# Geometry alignment report - `obj_torus_ring`

- Method: `mock-3dgs`
- Reconstruction: `/home/toaster/dev/uni/masterthesis/data/obj_torus_ring/mock_rec.ply`
- Alignment: `auto`
- Created: 2026-10-12T14:31:09

| Metric | Unaligned | Aligned |
| --- | --- | --- |
| Chamfer-L1 (m) | 0.030643 | 0.006479 |
| Chamfer-L2 (m) | 0.038503 | 0.007060 |
| Accuracy (m) | 0.033989 | 0.006215 |
| Completeness (m) | 0.027297 | 0.006744 |
| RMSE (m) | 0.038503 | 0.007060 |
| Hausdorff (m) | 0.105567 | 0.020397 |
| Precision | 0.047946 | 0.354161 |
| Recall | 0.043600 | 0.302400 |
| F-score | 0.045670 | 0.326240 |
| Normal consistency | - | - |
| Points (pred) | 14996 | 14996 |

## Per-threshold F-scores (aligned)

| Threshold | Precision | Recall | F-score |
| --- | --- | --- | --- |
| 1mm | 0.0053 | 0.0042 | 0.0047 |
| 5mm | 0.3542 | 0.3024 | 0.3262 |
| 10mm | 0.9140 | 0.8637 | 0.8882 |

## Alignment transform

- Scale recovered: `0.925543` (deviation from metric: 0.0745)
- Rotation angle undone: `143.540` deg
- Translation norm: `0.0462` m
- ICP iterations: `24`, final RMSE `0.007493` 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._