{
 "run_id": "q720-da3g-tiled",
 "keyframes": 719,
 "protocol": {
  "ground_truth_used_in_construction": false,
  "survey_or_lidar_used_in_construction": false,
  "camera_reference": "Zurich Urban MAV GroundTruthAGL (evaluation only)",
  "surface_reference": "swisstopo swissSURFACE3D airborne LiDAR 2018 (evaluation only)"
 },
 "absolute_camera_error": {
  "rmse_m": 2.6805276617112592,
  "median_m": 2.0082337407630098,
  "p95_m": 4.878219476612669,
  "max_m": 6.689887363132065
 },
 "absolute_camera_error_horizontal_rmse_m": 2.3930798669526028,
 "absolute_camera_error_vertical_rmse_m": 1.2076412114470698,
 "sim3_camera_error": {
  "rmse_m": 2.3552234903007516,
  "median_m": 1.8013571861762594,
  "p95_m": 4.677482888219416,
  "max_m": 5.931558414173818
 },
 "surface_shape_vs_lidar": {
  "median_m": 0.7330550267977757,
  "lt_0.5m": 0.318565,
  "lt_1m": 0.6024225,
  "lt_2m": 0.832695,
  "icp_translation_m": 3.077460885566754,
  "icp_rotation_deg": 2.259648127627539,
  "note": "evaluation-only alignment; isolates model shape from GNSS placement error"
 },
 "surface_absolute_vs_lidar": {
  "samples": 400000,
  "within_5m_frac": 0.9450875,
  "median_m": 1.3322212408265985,
  "lt_0.5m": 0.143275,
  "lt_1m": 0.34964,
  "lt_2m": 0.6789775,
  "note": "airborne LiDAR barely samples facades, so facade points inflate this distance"
 },
 "visible_completeness": {
  "visible_reference_points": 116196,
  "of_reference_points": 1288464,
  "recall_0.5m": 0.3198044683121622,
  "recall_1m": 0.46479224758167237,
  "recall_2m": 0.6107180970085029,
  "note": "reference = swisstopo LiDAR points visible from >=1 camera (FOV, <=35 m, z-buffer occlusion); after eval-only rigid alignment"
 },
 "f_score_1m": 0.5247328307695484,
 "with_gap_fill": {
  "visible_completeness": {
   "visible_reference_points": 117272,
   "of_reference_points": 1288464,
   "recall_0.5m": 0.33722457193532984,
   "recall_1m": 0.5118613138686131,
   "recall_2m": 0.6823367896855175,
   "note": "reference = swisstopo LiDAR points visible from >=1 camera (FOV, <=35 m, z-buffer occlusion); after eval-only rigid alignment"
  },
  "f_score_1m": 0.5417020399252916,
  "surface_shape_vs_lidar": {
   "median_m": 0.7689314330000672,
   "lt_0.5m": 0.3061825,
   "lt_1m": 0.5752375,
   "lt_2m": 0.7973,
   "icp_translation_m": 2.8893031530594153,
   "icp_rotation_deg": 2.5771635959347567,
   "note": "evaluation-only alignment; isolates model shape from GNSS placement error"
  },
  "note": "measured surface + interpolated fill layer, scored with the same protocol"
 }
}