# Geometry alignment report - `obj_lamp`

- Method: `mock-3dgs`
- Reconstruction: `/home/toaster/dev/uni/masterthesis/data/obj_lamp/mock_rec.ply`
- Alignment: `auto`
- Created: 2026-10-12T14:31:14

| Metric | Unaligned | Aligned |
| --- | --- | --- |
| Chamfer-L1 (m) | 0.025013 | 0.004577 |
| Chamfer-L2 (m) | 0.029250 | 0.004990 |
| Accuracy (m) | 0.029053 | 0.004538 |
| Completeness (m) | 0.020972 | 0.004616 |
| RMSE (m) | 0.029250 | 0.004990 |
| Hausdorff (m) | 0.096695 | 0.015068 |
| Precision | 0.035409 | 0.633836 |
| Recall | 0.036100 | 0.616650 |
| F-score | 0.035751 | 0.625125 |
| Normal consistency | - | - |
| Points (pred) | 14996 | 14996 |

## Per-threshold F-scores (aligned)

| Threshold | Precision | Recall | F-score |
| --- | --- | --- | --- |
| 1mm | 0.0122 | 0.0095 | 0.0107 |
| 5mm | 0.6338 | 0.6167 | 0.6251 |
| 10mm | 0.9874 | 0.9905 | 0.9889 |

## Alignment transform

- Scale recovered: `0.925414` (deviation from metric: 0.0746)
- Rotation angle undone: `2.587` deg
- Translation norm: `0.0462` m
- ICP iterations: `12`, final RMSE `0.005478` 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._