# Geometry alignment report - `obj_capsule_pill`

- Method: `mock-3dgs`
- Reconstruction: `/home/toaster/dev/uni/masterthesis/data/obj_capsule_pill/mock_rec.ply`
- Alignment: `auto`
- Created: 2026-10-12T14:31:08

| Metric | Unaligned | Aligned |
| --- | --- | --- |
| Chamfer-L1 (m) | 0.021753 | 0.004774 |
| Chamfer-L2 (m) | 0.028480 | 0.005180 |
| Accuracy (m) | 0.025724 | 0.004769 |
| Completeness (m) | 0.017783 | 0.004779 |
| RMSE (m) | 0.028480 | 0.005180 |
| Hausdorff (m) | 0.108248 | 0.015190 |
| Precision | 0.095092 | 0.582022 |
| Recall | 0.107650 | 0.569800 |
| F-score | 0.100982 | 0.575846 |
| Normal consistency | - | - |
| Points (pred) | 14996 | 14996 |

## Per-threshold F-scores (aligned)

| Threshold | Precision | Recall | F-score |
| --- | --- | --- | --- |
| 1mm | 0.0096 | 0.0073 | 0.0083 |
| 5mm | 0.5820 | 0.5698 | 0.5758 |
| 10mm | 0.9837 | 0.9925 | 0.9880 |

## Alignment transform

- Scale recovered: `0.924844` (deviation from metric: 0.0752)
- Rotation angle undone: `75.885` deg
- Translation norm: `0.0461` m
- ICP iterations: `40`, final RMSE `0.005617` m

_The rotation angle is the magnitude of the alignment rotation the solver had to
apply; the reconstruction frame is arbitrary, so it is not an error against a
reference. For symmetric objects the transform is defined only up to the object's
symmetry group._