# Geometry alignment report - `scene_tabletop`

- Method: `mock-3dgs`
- Reconstruction: `/home/toaster/dev/uni/masterthesis/data/scene_tabletop/mock_rec.ply`
- Alignment: `auto`
- Created: 2026-10-12T14:31:17

| Metric | Unaligned | Aligned |
| --- | --- | --- |
| Chamfer-L1 (m) | 0.034038 | 0.007074 |
| Chamfer-L2 (m) | 0.041041 | 0.008703 |
| Accuracy (m) | 0.037248 | 0.005692 |
| Completeness (m) | 0.030827 | 0.008456 |
| RMSE (m) | 0.041041 | 0.008703 |
| Hausdorff (m) | 0.196907 | 0.047418 |
| Precision | 0.008469 | 0.424180 |
| Recall | 0.006500 | 0.328100 |
| F-score | 0.007355 | 0.370004 |
| Normal consistency | - | - |
| Points (pred) | 14996 | 14996 |

## Per-threshold F-scores (aligned)

| Threshold | Precision | Recall | F-score |
| --- | --- | --- | --- |
| 1mm | 0.0057 | 0.0043 | 0.0049 |
| 5mm | 0.4242 | 0.3281 | 0.3700 |
| 10mm | 0.9497 | 0.7631 | 0.8462 |

## Alignment transform

- Scale recovered: `0.925795` (deviation from metric: 0.0742)
- Rotation angle undone: `2.578` deg
- Translation norm: `0.0461` m
- ICP iterations: `7`, final RMSE `0.010838` 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._