stats/summary.md

split	graphs	cameras	edges	cameras/graph (min-max)	mean degree	outlier ratio	symmetry edges	inlier rot. err. (median, deg)	inlier dir. err. (median, deg)
bench_density	126	37,704	681,482	262-300	36.1	0.101	0	0.089	0.135
bench_heavytail	84	25,176	483,856	296-300	38.4	0.002	0	0.109	0.143
bench_matches	84	24,737	456,406	96-300	36.6	0.101	0	0.083	0.113
bench_noise	147	44,044	844,109	295-300	38.3	0.115	0	0.181	0.252
bench_outlier_mode	63	18,825	362,601	276-300	38.5	0.301	0	0.076	0.107
bench_outliers	168	50,288	965,432	293-300	38.4	0.269	0	0.083	0.110
bench_pgo	105	52,480	1,042,670	497-500	39.7	0.101	0	0.078	0.106
bench_scale	231	4,082,251	89,462,079	30-100,000	38.4	0.102	0	0.086	0.190
bench_symmetry	126	37,728	892,434	295-300	47.3	0.149	138,512	0.074	0.112
bench_topology	70	20,988	404,234	297-300	38.5	0.101	0	0.084	0.116
bench_twoview	63	29,394	585,337	100-1,000	36.2	0.103	0	0.076	0.143
bench_twoview_symmetry	28	8,380	204,173	294-300	48.8	0.183	36,456	0.074	0.094
test_wild	2,000	483,442	8,602,980	15-800	29.4	0.248	633,759	0.088	0.134
test_wild_large	200	454,699	10,550,698	800-4,801	45.5	0.232	617,323	0.056	0.152
train	40,000	9,322,257	167,127,204	12-800	28.8	0.249	12,751,910	0.088	0.135
val	2,000	474,777	8,220,231	18-799	28.5	0.243	598,787	0.089	0.142
total	45,495	15,167,170	290,885,926	12-100,000	29.2	0.246	14,776,747	0.087	0.136