Comparisons

Every reconstruction evaluated against its ground truth. Unaligned numbers show the raw output; aligned numbers show the geometry after Sim3/ICP registration, which is the fair comparison when scale and pose are unknown.

Sample	Method	Align	F-score (unaligned)	F-score (aligned)	Chamfer-L1 (aligned)	Scale	Rot. undone
Smooth blob (icosphere with ripple) `obj_sphere_blob`	`mock-3dgs`	`auto`	0.0226	0.2166	0.007743	0.9256	20.07	open
Vase (surface of revolution) `obj_vase`	`mock-3dgs`	`auto`	0.0395	0.3950	0.005867	0.9256	4.75	open
LEGO brick (body + studs) `obj_lego_brick`	`mock-3dgs`	`auto`	0.0287	0.4447	0.005734	0.9256	2.60	open
Capsule / pill (thin, elongated) `obj_capsule_pill`	`mock-3dgs`	`auto`	0.1010	0.5758	0.004774	0.9248	75.88	open
Torus ring (genus 1, glossy) `obj_torus_ring`	`mock-3dgs`	`auto`	0.0457	0.3262	0.006479	0.9255	143.54	open
Chair (planar boxes) `obj_chair`	`mock-3dgs`	`auto`	0.0304	0.5899	0.004753	0.9254	2.60	open
Table lamp (multi-scale composite) `obj_lamp`	`mock-3dgs`	`auto`	0.0358	0.6251	0.004577	0.9254	2.59	open
LEGO tile (2x2 variant of the brick) `obj_studs_tile`	`mock-3dgs`	`auto`	0.0569	0.5233	0.005146	0.9255	2.61	open
Tabletop clutter scene `scene_tabletop`	`mock-3dgs`	`auto`	0.0074	0.3700	0.007074	0.9258	2.58	open
Room corner with furniture `scene_room_corner`	`mock-3dgs`	`auto`	0.0001	0.3510	0.008778	0.9258	2.59	open