# Geometry alignment report - `obj_sphere_blob`

- Method: `mock-3dgs`
- Reconstruction: `/home/toaster/dev/uni/masterthesis/data/obj_sphere_blob/mock_rec.ply`
- Alignment: `auto`
- Created: 2026-10-12T14:31:04

| Metric | Unaligned | Aligned |
| --- | --- | --- |
| Chamfer-L1 (m) | 0.041171 | 0.007743 |
| Chamfer-L2 (m) | 0.048575 | 0.008436 |
| Accuracy (m) | 0.043765 | 0.007378 |
| Completeness (m) | 0.038576 | 0.008109 |
| RMSE (m) | 0.048575 | 0.008436 |
| Hausdorff (m) | 0.099142 | 0.024190 |
| Precision | 0.024807 | 0.240331 |
| Recall | 0.020700 | 0.197100 |
| F-score | 0.022568 | 0.216579 |
| Normal consistency | - | - |
| Points (pred) | 14996 | 14996 |

## Per-threshold F-scores (aligned)

| Threshold | Precision | Recall | F-score |
| --- | --- | --- | --- |
| 1mm | 0.0025 | 0.0019 | 0.0021 |
| 5mm | 0.2403 | 0.1971 | 0.2166 |
| 10mm | 0.8030 | 0.7233 | 0.7611 |

## Alignment transform

- Scale recovered: `0.925605` (deviation from metric: 0.0744)
- Rotation angle undone: `20.073` deg
- Translation norm: `0.0463` m
- ICP iterations: `39`, final RMSE `0.008989` 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._