| 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 |