Tabletop clutter scene — mock-3dgs
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reconstruction: /home/toaster/dev/uni/masterthesis/data/scene_tabletop/mock_rec.ply
Overlay (GT vs reconstruction)
blue = ground truth, orange = reconstruction (aligned).
Alignment: auto.
Scale 0.9258,
rotation undone 2.58°.
Orange points are shown in the ground-truth frame after alignment.
Geometry metrics
| 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 | n/a | n/a |
| Points (recon / GT) | 14996 / 20000 | 14996 |
Alignment transform
- method
- icp+scale
- scale recovered
- 0.925795 (deviation from metric 0.0742)
- rotation undone
- 2.578°
- translation norm
- 0.0461 m
- ICP iterations
- 7
- aligned RMSE
- 0.010838 m
F-score by threshold (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 |
Report
Generated 2026-10-12T14:31:17.