benchmarks/leaderboard.md

# ViewGraphBench leaderboard

Mean over the graphs of each split; rotation errors in degrees after L1 gauge alignment, position errors relative to the scene diameter after Sim(3) (translation) or SE(3) (PGO) alignment.

## rotation

| split | method | graphs | rot_median_deg | rot_mean_deg | rot_acc_3deg | res_inlier_median_deg | time_s |
|---|---|---:|---:|---:|---:|---:|---:|
| bench_density | rot/chordal_l2+irls_cauchy | 126 | 0.0932 | 0.3948 | 0.9978 | 0.1226 | 0.1518 |
| bench_density | rot/l1_irls | 126 | 0.09329 | 0.3792 | 0.9979 | 0.1226 | 0.5269 |
| bench_density | rot/l1_irls_info | 126 | 3.857 | 7.848 | 0.9335 | 0.1121 | 0.7197 |
| bench_density | rot/chordal_l2 | 126 | 5.707 | 7.569 | 0.5233 | 2.541 | 0.04785 |
| bench_density | rot/spanning_tree | 126 | 34.03 | 45.37 | 0.6141 | 0.2169 | 0.01095 |
| bench_heavytail | rot/l1_irls_info | 84 | 0.02965 | 0.03454 | 1 | 0.1361 | 0.7206 |
| bench_heavytail | rot/l1_irls | 84 | 0.09285 | 0.1033 | 1 | 0.1656 | 0.5706 |
| bench_heavytail | rot/chordal_l2+irls_cauchy | 84 | 0.09285 | 0.1033 | 1 | 0.1656 | 0.143 |
| bench_heavytail | rot/chordal_l2 | 84 | 0.1162 | 0.1372 | 0.9998 | 0.189 | 0.0538 |
| bench_heavytail | rot/spanning_tree | 84 | 0.3958 | 0.4579 | 0.9963 | 0.2925 | 0.0141 |
| bench_matches | rot/chordal_l2+irls_cauchy | 84 | 0.07728 | 1.038 | 0.9933 | 0.1222 | 0.208 |
| bench_matches | rot/l1_irls | 84 | 0.07731 | 0.9826 | 0.9938 | 0.1222 | 0.7509 |
| bench_matches | rot/l1_irls_info | 84 | 1.209 | 2.952 | 0.9788 | 0.1079 | 0.986 |
| bench_matches | rot/chordal_l2 | 84 | 2.832 | 4.315 | 0.6675 | 2.231 | 0.06993 |
| bench_matches | rot/spanning_tree | 84 | 35.5 | 45.66 | 0.628 | 0.2332 | 0.01928 |
| bench_noise | rot/l1_irls_info | 147 | 0.1057 | 1.183 | 0.9876 | 0.4663 | 0.5933 |
| bench_noise | rot/chordal_l2+irls_cauchy | 147 | 0.2157 | 0.309 | 0.9935 | 0.4819 | 0.1711 |
| bench_noise | rot/l1_irls | 147 | 0.2159 | 0.334 | 0.9933 | 0.482 | 0.5442 |
| bench_noise | rot/chordal_l2 | 147 | 2.438 | 3.179 | 0.6903 | 2.412 | 0.04177 |
| bench_noise | rot/spanning_tree | 147 | 41.2 | 48.23 | 0.5499 | 1.092 | 0.009973 |
| bench_outlier_mode | rot/l1_irls | 63 | 0.105 | 1.296 | 0.9906 | 0.1288 | 0.9736 |
| bench_outlier_mode | rot/chordal_l2+irls_cauchy | 63 | 0.1058 | 1.365 | 0.99 | 0.1292 | 0.4755 |
| bench_outlier_mode | rot/l1_irls_info | 63 | 2.263 | 9.908 | 0.915 | 0.1276 | 1.055 |
| bench_outlier_mode | rot/chordal_l2 | 63 | 11.4 | 16.92 | 0.36 | 9.404 | 0.06698 |
| bench_outlier_mode | rot/spanning_tree | 63 | 68.63 | 64.56 | 0.4718 | 30.18 | 0.01908 |
| bench_outliers | rot/l1_irls | 168 | 0.0921 | 0.8042 | 0.9942 | 0.1278 | 1.629 |
| bench_outliers | rot/chordal_l2+irls_cauchy | 168 | 0.7626 | 1.777 | 0.9863 | 0.128 | 0.5839 |
| bench_outliers | rot/l1_irls_info | 168 | 6.422 | 9.261 | 0.9235 | 0.1219 | 1.932 |
| bench_outliers | rot/chordal_l2 | 168 | 7.72 | 11.18 | 0.4227 | 6.796 | 0.1218 |
| bench_outliers | rot/spanning_tree | 168 | 64.47 | 62.74 | 0.487 | 22.28 | 0.03247 |
| bench_pgo | rot/l1_irls_info | 105 | 0.03521 | 0.6778 | 0.9949 | 0.1071 | 3.778 |
| bench_pgo | rot/l1_irls | 105 | 0.07958 | 0.1427 | 0.9994 | 0.1193 | 3.146 |
| bench_pgo | rot/chordal_l2+irls_cauchy | 105 | 0.07959 | 0.1497 | 0.9994 | 0.1193 | 0.8239 |
| bench_pgo | rot/chordal_l2 | 105 | 2.507 | 2.992 | 0.7091 | 2.095 | 0.3206 |
| bench_pgo | rot/spanning_tree | 105 | 25.5 | 45.79 | 0.6355 | 0.2422 | 0.05719 |
| bench_scale | rot/l1_irls_info | 126 | 0.05412 | 1.876 | 0.9837 | 0.1146 | 2.673 |
| bench_scale | rot/l1_irls | 126 | 0.1016 | 0.6682 | 0.9962 | 0.1359 | 2.716 |
| bench_scale | rot/chordal_l2+irls_cauchy | 126 | 0.1017 | 0.177 | 0.9995 | 0.1359 | 0.8642 |
| bench_scale | rot/chordal_l2 | 126 | 3.639 | 4.473 | 0.623 | 2.349 | 0.3771 |
| bench_scale | rot/spanning_tree | 126 | 37.9 | 44.7 | 0.62 | 0.237 | 0.03777 |
| bench_symmetry | rot/spanning_tree | 126 | 0.2709 | 0.7615 | 0.9955 | 0.1868 | 0.03931 |
| bench_symmetry | rot/l1_irls_info | 126 | 5.149 | 16.39 | 0.8889 | 0.1179 | 2.159 |
| bench_symmetry | rot/l1_irls | 126 | 5.923 | 20.06 | 0.8675 | 0.1381 | 2.14 |
| bench_symmetry | rot/chordal_l2 | 126 | 20.95 | 40.86 | 0.6396 | 3.432 | 0.1993 |
| bench_symmetry | rot/chordal_l2+irls_cauchy | 126 | 22.28 | 40.13 | 0.7162 | 0.164 | 0.6163 |
| bench_topology | rot/l1_irls_info | 70 | 0.04064 | 3.82 | 0.969 | 0.1149 | 1.566 |
| bench_topology | rot/chordal_l2+irls_cauchy | 70 | 0.07831 | 0.1449 | 0.9996 | 0.1321 | 0.3373 |
| bench_topology | rot/l1_irls | 70 | 0.07832 | 0.1309 | 0.9997 | 0.1321 | 1.273 |
| bench_topology | rot/chordal_l2 | 70 | 2.712 | 3.354 | 0.6866 | 2.166 | 0.1077 |
| bench_topology | rot/spanning_tree | 70 | 32.87 | 43.7 | 0.643 | 0.2443 | 0.02614 |
| bench_twoview | rot/l1_irls_info | 63 | 0.03755 | 1.553 | 0.9885 | 0.08807 | 1.169 |
| bench_twoview | rot/chordal_l2+irls_cauchy | 63 | 0.08025 | 0.1382 | 0.9997 | 0.1204 | 0.3625 |
| bench_twoview | rot/l1_irls | 63 | 0.08031 | 0.3518 | 0.9975 | 0.1204 | 1.215 |
| bench_twoview | rot/chordal_l2 | 63 | 2.857 | 3.472 | 0.676 | 2.272 | 0.1206 |
| bench_twoview | rot/spanning_tree | 63 | 28.81 | 39.51 | 0.6667 | 0.1805 | 0.01752 |
| bench_twoview_symmetry | rot/l1_irls_info | 28 | 0.04397 | 0.1374 | 0.9978 | 0.1216 | 0.7873 |
| bench_twoview_symmetry | rot/l1_irls | 28 | 0.1531 | 9.482 | 0.9475 | 0.1577 | 0.9402 |
| bench_twoview_symmetry | rot/spanning_tree | 28 | 0.3039 | 0.5657 | 0.9751 | 0.2646 | 0.01311 |
| bench_twoview_symmetry | rot/chordal_l2 | 28 | 29.03 | 50.01 | 0.5108 | 4.26 | 0.08108 |
| bench_twoview_symmetry | rot/chordal_l2+irls_cauchy | 28 | 29.12 | 49.77 | 0.6492 | 0.2239 | 0.4161 |
| test_wild | rot/l1_irls | 2000 | 7.629 | 15.05 | 0.8948 | 0.1756 | 0.6887 |
| test_wild | rot/l1_irls_info | 2000 | 8.877 | 17.67 | 0.8685 | 0.2179 | 0.7375 |
| test_wild | rot/chordal_l2+irls_cauchy | 2000 | 9.939 | 18.52 | 0.8694 | 0.1831 | 0.2555 |
| test_wild | rot/chordal_l2 | 2000 | 16.34 | 23.99 | 0.472 | 5.356 | 0.07567 |
| test_wild | rot/spanning_tree | 2000 | 31.88 | 37.22 | 0.6896 | 4.584 | 0.01086 |
| test_wild_large | rot/l1_irls | 139 | 8.76 | 18.53 | 0.8719 | 0.1192 | 13.99 |
| test_wild_large | rot/chordal_l2+irls_cauchy | 139 | 11.26 | 22.11 | 0.8447 | 0.1247 | 8.565 |
| test_wild_large | rot/l1_irls_info | 139 | 12.21 | 20.18 | 0.8388 | 0.11 | 14.47 |
| test_wild_large | rot/chordal_l2 | 139 | 23.15 | 31.5 | 0.4168 | 4.453 | 3.918 |
| test_wild_large | rot/spanning_tree | 139 | 64.52 | 60.78 | 0.4842 | 9.389 | 0.07147 |

## translation

| split | method | graphs | pos_median_rel | pos_mean_rel | pos_acc_5pct | time_s |
|---|---|---:|---:|---:|---:|---:|
| bench_density | trans/lud@l1_irls | 126 | 0.01406 | 0.02032 | 0.8948 | 4.675 |
| bench_density | trans/lud@gt_rot | 126 | 0.01407 | 0.02022 | 0.8948 | 5.261 |
| bench_density | trans/linear_cross@l1_irls | 126 | 0.1509 | 4.085e+07 | 0.2045 | 0.06686 |
| bench_density | trans/linear_cross@gt_rot | 126 | 0.1516 | 5.105e+07 | 0.2043 | 0.06906 |
| bench_heavytail | trans/lud@gt_rot | 84 | 0.001679 | 0.002281 | 0.9974 | 8.59 |
| bench_heavytail | trans/lud@l1_irls | 84 | 0.001774 | 0.00237 | 0.9974 | 9.19 |
| bench_heavytail | trans/linear_cross@gt_rot | 84 | 0.007776 | 0.2053 | 0.9305 | 0.06778 |
| bench_heavytail | trans/linear_cross@l1_irls | 84 | 0.008211 | 0.213 | 0.9262 | 0.06561 |
| bench_matches | trans/lud@gt_rot | 84 | 0.01585 | 0.02117 | 0.8807 | 6.657 |
| bench_matches | trans/lud@l1_irls | 84 | 0.01626 | 0.0225 | 0.8803 | 6.515 |
| bench_matches | trans/linear_cross@gt_rot | 84 | 0.1445 | 2.277e+08 | 0.2336 | 0.087 |
| bench_matches | trans/linear_cross@l1_irls | 84 | 0.145 | 4.525e+07 | 0.2336 | 0.08685 |
| bench_noise | trans/lud@l1_irls | 147 | 0.01385 | 0.0188 | 0.889 | 3.358 |
| bench_noise | trans/lud@gt_rot | 147 | 0.01385 | 0.0188 | 0.8886 | 3.353 |
| bench_noise | trans/linear_cross@l1_irls | 147 | 0.1498 | 9.539 | 0.2463 | 0.04932 |
| bench_noise | trans/linear_cross@gt_rot | 147 | 0.1502 | 8.315 | 0.2464 | 0.05122 |
| bench_outlier_mode | trans/lud@gt_rot | 63 | 0.0232 | 0.02803 | 0.8299 | 7.318 |
| bench_outlier_mode | trans/lud@l1_irls | 63 | 0.0238 | 0.0297 | 0.8253 | 8.76 |
| bench_outlier_mode | trans/linear_cross@gt_rot | 63 | 0.1197 | 0.4781 | 0.3795 | 0.08586 |
| bench_outlier_mode | trans/linear_cross@l1_irls | 63 | 0.1221 | 0.4682 | 0.3703 | 0.08048 |
| bench_outliers | trans/lud@gt_rot | 168 | 0.02325 | 0.02917 | 0.8265 | 12.64 |
| bench_outliers | trans/lud@l1_irls | 168 | 0.02365 | 0.02988 | 0.8257 | 12.46 |
| bench_outliers | trans/linear_cross@l1_irls | 168 | 0.1381 | 30.09 | 0.2634 | 0.1597 |
| bench_outliers | trans/linear_cross@gt_rot | 168 | 0.1382 | 30.52 | 0.2641 | 0.1637 |
| bench_pgo | trans/lud@gt_rot | 105 | 0.006072 | 0.009314 | 0.9658 | 26.24 |
| bench_pgo | trans/lud@l1_irls | 105 | 0.006123 | 0.009387 | 0.966 | 24.95 |
| bench_pgo | trans/linear_cross@gt_rot | 105 | 0.1324 | 7.663 | 0.2594 | 0.3907 |
| bench_pgo | trans/linear_cross@l1_irls | 105 | 0.1326 | 8.205 | 0.2591 | 0.3908 |
| bench_scale | trans/lud@gt_rot | 126 | 0.01243 | 0.01626 | 0.9039 | 23.64 |
| bench_scale | trans/lud@l1_irls | 126 | 0.01318 | 0.01701 | 0.8998 | 22.75 |
| bench_scale | trans/linear_cross@l1_irls | 126 | 0.1341 | 12.89 | 0.2499 | 0.3854 |
| bench_scale | trans/linear_cross@gt_rot | 126 | 0.1354 | 12.71 | 0.2501 | 0.3866 |
| bench_symmetry | trans/lud@gt_rot | 126 | 0.06211 | 0.06859 | 0.5637 | 21.31 |
| bench_symmetry | trans/lud@l1_irls | 126 | 0.07863 | 0.09852 | 0.5836 | 22.92 |
| bench_symmetry | trans/linear_cross@l1_irls | 126 | 0.1424 | 8.702 | 0.365 | 0.2751 |
| bench_symmetry | trans/linear_cross@gt_rot | 126 | 0.1428 | 23.01 | 0.3665 | 0.2703 |
| bench_topology | trans/lud@gt_rot | 70 | 0.01329 | 0.01753 | 0.8926 | 9.159 |
| bench_topology | trans/lud@l1_irls | 70 | 0.01334 | 0.01752 | 0.8922 | 9.037 |
| bench_topology | trans/linear_cross@l1_irls | 70 | 0.1446 | 12.04 | 0.2366 | 0.1398 |
| bench_topology | trans/linear_cross@gt_rot | 70 | 0.1447 | 11.19 | 0.2364 | 0.1307 |
| bench_twoview | trans/lud@l1_irls | 63 | 0.01264 | 0.01705 | 0.9082 | 9.185 |
| bench_twoview | trans/lud@gt_rot | 63 | 0.01264 | 0.01631 | 0.908 | 9.602 |
| bench_twoview | trans/linear_cross@gt_rot | 63 | 0.1399 | 3.615 | 0.2439 | 0.1372 |
| bench_twoview | trans/linear_cross@l1_irls | 63 | 0.1407 | 3.719 | 0.2442 | 0.1335 |
| bench_twoview_symmetry | trans/lud@gt_rot | 28 | 0.07333 | 0.07886 | 0.4565 | 6.602 |
| bench_twoview_symmetry | trans/lud@l1_irls | 28 | 0.07716 | 0.08973 | 0.461 | 6.927 |
| bench_twoview_symmetry | trans/linear_cross@l1_irls | 28 | 0.1764 | 50.71 | 0.1812 | 0.09477 |
| bench_twoview_symmetry | trans/linear_cross@gt_rot | 28 | 0.1788 | 58.56 | 0.1724 | 0.09483 |
| test_wild | trans/lud@gt_rot | 2000 | 0.06198 | 0.07066 | 0.6599 | 5.861 |
| test_wild | trans/lud@l1_irls | 2000 | 0.06407 | 0.08003 | 0.6667 | 5.866 |
| test_wild | trans/linear_cross@gt_rot | 2000 | 0.1688 | 1.809e+08 | 0.1886 | 0.08983 |
| test_wild | trans/linear_cross@l1_irls | 2000 | 0.1694 | 1.924e+08 | 0.188 | 0.0888 |
| test_wild_large | trans/lud@gt_rot | 139 | 0.05649 | 0.05948 | 0.7217 | 190.8 |
| test_wild_large | trans/lud@l1_irls | 139 | 0.05926 | 0.06786 | 0.7184 | 204.3 |
| test_wild_large | trans/linear_cross@l1_irls | 139 | 0.1547 | 1.384e+08 | 0.1964 | 3.907 |
| test_wild_large | trans/linear_cross@gt_rot | 139 | 0.1554 | 2.213e+08 | 0.1962 | 4.025 |

## pgo

| split | method | graphs | pos_median_rel | pos_median | rot_median_deg | pgo_iterations | time_s |
|---|---|---:|---:|---:|---:|---:|---:|
| bench_density | pgo/lm_cauchy@rotavg_init | 126 | 0.001095 | 0.221 | 0.03488 | 30 | 11.92 |
| bench_density | pgo/lm_huber | 126 | 0.005847 | 1.548 | 2.772 | 25.52 | 8.81 |
| bench_density | pgo/lm_cauchy | 126 | 0.06242 | 12.35 | 32.81 | 30 | 11.36 |
| bench_density | pgo/lm_l2 | 126 | 0.06643 | 12.92 | 19.91 | 18.93 | 6.721 |
| bench_density | pgo/chain_init | 126 | 0.07653 | 14.62 | 34.03 | 0 | 0.01271 |
| bench_heavytail | pgo/lm_cauchy@rotavg_init | 84 | 0.0009006 | 0.1663 | 0.02661 | 30 | 17.82 |
| bench_heavytail | pgo/lm_cauchy | 84 | 0.0009044 | 0.1678 | 0.02676 | 30 | 15.61 |
| bench_heavytail | pgo/lm_huber | 84 | 0.0009866 | 0.1837 | 0.02426 | 24.94 | 11.66 |
| bench_heavytail | pgo/lm_l2 | 84 | 0.001172 | 0.2223 | 0.03179 | 4.94 | 2.144 |
| bench_heavytail | pgo/chain_init | 84 | 0.008059 | 1.201 | 0.3958 | 0 | 0.01341 |
| bench_matches | pgo/lm_cauchy@rotavg_init | 84 | 0.004236 | 0.9239 | 0.02772 | 30 | 14.4 |
| bench_matches | pgo/lm_huber | 84 | 0.005436 | 1.183 | 1.17 | 24.06 | 11.6 |
| bench_matches | pgo/lm_l2 | 84 | 0.06105 | 10.59 | 15.99 | 17.67 | 10.82 |
| bench_matches | pgo/lm_cauchy | 84 | 0.06509 | 12.8 | 34.02 | 30 | 14.69 |
| bench_matches | pgo/chain_init | 84 | 0.07857 | 14.42 | 35.5 | 0 | 0.01646 |
| bench_noise | pgo/lm_cauchy@rotavg_init | 147 | 0.001117 | 0.2313 | 0.1143 | 30 | 11.47 |
| bench_noise | pgo/lm_huber | 147 | 0.002056 | 0.4245 | 0.1109 | 23.99 | 8.261 |
| bench_noise | pgo/lm_cauchy | 147 | 0.04662 | 10.5 | 34.75 | 30 | 10.92 |
| bench_noise | pgo/lm_l2 | 147 | 0.05648 | 8.75 | 14.76 | 16.13 | 5.655 |
| bench_noise | pgo/chain_init | 147 | 0.06952 | 15.78 | 41.2 | 0 | 0.009765 |
| bench_outlier_mode | pgo/lm_cauchy@rotavg_init | 63 | 0.001126 | 0.2212 | 0.03049 | 30 | 27.42 |
| bench_outlier_mode | pgo/lm_huber | 63 | 0.005904 | 1.212 | 0.04451 | 28.33 | 20.38 |
| bench_outlier_mode | pgo/lm_cauchy | 63 | 0.1266 | 27.12 | 68.54 | 30 | 24.82 |
| bench_outlier_mode | pgo/lm_l2 | 63 | 0.1321 | 25.98 | 26.85 | 20.63 | 14.94 |
| bench_outlier_mode | pgo/chain_init | 63 | 0.1439 | 29.44 | 68.63 | 0 | 0.01967 |
| bench_outliers | pgo/lm_cauchy@rotavg_init | 168 | 0.001143 | 0.2163 | 0.03352 | 30 | 38.62 |
| bench_outliers | pgo/lm_huber | 168 | 0.008636 | 1.715 | 1.255 | 26.32 | 30.84 |
| bench_outliers | pgo/lm_l2 | 168 | 0.1151 | 22.12 | 30.13 | 21.32 | 25.43 |
| bench_outliers | pgo/lm_cauchy | 168 | 0.1156 | 22.15 | 64.09 | 30 | 36.44 |
| bench_outliers | pgo/chain_init | 168 | 0.1254 | 24.25 | 64.47 | 0 | 0.03385 |
| bench_pgo | pgo/lm_cauchy@rotavg_init | 105 | 0.01045 | 2.839 | 0.02642 | 30 | 88.06 |
| bench_pgo | pgo/lm_huber | 105 | 0.0138 | 3.813 | 0.02522 | 23.1 | 59.09 |
| bench_pgo | pgo/lm_cauchy | 105 | 0.05226 | 11.41 | 25.31 | 30 | 81.32 |
| bench_pgo | pgo/lm_l2 | 105 | 0.05961 | 15.95 | 12.02 | 16.64 | 44.73 |
| bench_pgo | pgo/chain_init | 105 | 0.07876 | 14.17 | 25.5 | 0 | 0.06825 |
| bench_scale | pgo/lm_cauchy@rotavg_init | 105 | 0.001338 | 0.225 | 0.03207 | 30 | 20.74 |
| bench_scale | pgo/lm_huber | 105 | 0.002206 | 0.4196 | 0.03179 | 23.48 | 15.12 |
| bench_scale | pgo/lm_cauchy | 105 | 0.0549 | 15.8 | 28.25 | 30 | 20.41 |
| bench_scale | pgo/lm_l2 | 105 | 0.05972 | 11.88 | 15.13 | 16.36 | 14.95 |
| bench_scale | pgo/chain_init | 105 | 0.06448 | 17.57 | 28.81 | 0 | 0.01628 |
| bench_symmetry | pgo/lm_cauchy | 126 | 0.001073 | 0.1804 | 0.02381 | 30 | 60.33 |
| bench_symmetry | pgo/chain_init | 126 | 0.006489 | 0.7691 | 0.2709 | 0 | 0.04125 |
| bench_symmetry | pgo/lm_cauchy@rotavg_init | 126 | 0.04231 | 7.672 | 5.734 | 29.98 | 63.8 |
| bench_symmetry | pgo/lm_huber | 126 | 0.1046 | 11.24 | 7.122 | 27.89 | 54.38 |
| bench_symmetry | pgo/lm_l2 | 126 | 0.1503 | 16.04 | 20.17 | 12.75 | 26.43 |
| bench_topology | pgo/lm_cauchy@rotavg_init | 70 | 0.000964 | 0.188 | 0.02673 | 30 | 23.86 |
| bench_topology | pgo/lm_huber | 70 | 0.001873 | 0.3691 | 0.02643 | 23.6 | 18.35 |
| bench_topology | pgo/lm_cauchy | 70 | 0.0502 | 7.708 | 32.69 | 30 | 25.26 |
| bench_topology | pgo/lm_l2 | 70 | 0.06154 | 9.913 | 16.48 | 17.13 | 16.83 |
| bench_topology | pgo/chain_init | 70 | 0.06289 | 10.45 | 32.87 | 0 | 0.02696 |
| bench_twoview | pgo/lm_cauchy@rotavg_init | 63 | 0.001043 | 0.2267 | 0.03036 | 29.86 | 28.48 |
| bench_twoview | pgo/lm_huber | 63 | 0.001913 | 0.4697 | 0.03167 | 22.54 | 18.61 |
| bench_twoview | pgo/lm_cauchy | 63 | 0.0445 | 17.49 | 23.73 | 29.79 | 24.4 |
| bench_twoview | pgo/chain_init | 63 | 0.0574 | 22.01 | 28.81 | 0 | 0.0162 |
| bench_twoview | pgo/lm_l2 | 63 | 0.05864 | 13.53 | 13.1 | 14.4 | 16.67 |
| bench_twoview_symmetry | pgo/lm_cauchy | 28 | 0.001236 | 0.1896 | 0.02481 | 29.82 | 26.3 |
| bench_twoview_symmetry | pgo/chain_init | 28 | 0.007045 | 0.7809 | 0.3039 | 0 | 0.01313 |
| bench_twoview_symmetry | pgo/lm_cauchy@rotavg_init | 28 | 0.0668 | 10.57 | 0.03834 | 29.79 | 35.3 |
| bench_twoview_symmetry | pgo/lm_huber | 28 | 0.1533 | 15.23 | 0.7436 | 29.89 | 22.6 |
| bench_twoview_symmetry | pgo/lm_l2 | 28 | 0.184 | 18.85 | 10.12 | 9.214 | 6.828 |
| test_wild | pgo/lm_cauchy@rotavg_init | 2000 | 0.03755 | 3.99 | 7.534 | 29.95 | 17.55 |
| test_wild | pgo/lm_huber | 2000 | 0.05513 | 5.378 | 9.153 | 27.91 | 15.96 |
| test_wild | pgo/lm_cauchy | 2000 | 0.06229 | 10.37 | 30.52 | 29.99 | 18.03 |
| test_wild | pgo/chain_init | 2000 | 0.07625 | 12.68 | 31.88 | 0 | 0.01104 |
| test_wild | pgo/lm_l2 | 2000 | 0.127 | 16.98 | 26.1 | 17.03 | 11.38 |
| test_wild_large | pgo/lm_cauchy@rotavg_init | 72 | 0.03466 | 5.644 | 7.558 | 29.97 | 226.1 |
| test_wild_large | pgo/lm_huber | 72 | 0.0453 | 11.98 | 11.87 | 28.08 | 187.9 |
| test_wild_large | pgo/lm_cauchy | 72 | 0.1189 | 58.23 | 61.8 | 30 | 238.6 |
| test_wild_large | pgo/chain_init | 72 | 0.1362 | 62.9 | 67.7 | 0 | 0.04835 |
| test_wild_large | pgo/lm_l2 | 72 | 0.1429 | 54.79 | 41.64 | 22.97 | 167.9 |

## outlier

| split | method | graphs | out_f1 | out_precision | out_recall | out_ap | time_s |
|---|---|---:|---:|---:|---:|---:|---:|
| bench_density | out/rot_residual@l1_irls | 126 | 0.9972 | 0.9979 | 0.9965 | 0.9965 | 0.01427 |
| bench_density | out/cycle_consistency | 126 | 0.9779 | 0.969 | 0.988 | 0.9587 | 4.402 |
| bench_density | out/dir_residual@lud | 126 | 0.883 | 0.8147 | 0.9929 | 0.9247 | 0 |
| bench_heavytail | out/rot_residual@l1_irls | 84 | 0.9447 | 0.9701 | 0.9239 | 0.9988 | 0.02324 |
| bench_heavytail | out/cycle_consistency | 84 | 0.8126 | 0.9395 | 0.7332 | 0.9723 | 9.56 |
| bench_heavytail | out/dir_residual@lud | 84 | 0.7404 | 0.6946 | 0.906 | 0.7368 | 0 |
| bench_matches | out/rot_residual@l1_irls | 84 | 0.9987 | 0.9994 | 0.9979 | 0.9985 | 0.01702 |
| bench_matches | out/cycle_consistency | 84 | 0.9955 | 0.9949 | 0.9962 | 0.9923 | 6.705 |
| bench_matches | out/dir_residual@lud | 84 | 0.9095 | 0.8513 | 0.9965 | 0.9473 | 0 |
| bench_noise | out/rot_residual@l1_irls | 147 | 0.9905 | 0.9964 | 0.9849 | 0.9982 | 0.01411 |
| bench_noise | out/cycle_consistency | 147 | 0.9496 | 0.9943 | 0.917 | 0.9871 | 4.37 |
| bench_noise | out/dir_residual@lud | 147 | 0.9053 | 0.8502 | 0.9874 | 0.9382 | 0 |
| bench_outlier_mode | out/rot_residual@l1_irls | 63 | 0.9933 | 0.9985 | 0.9894 | 0.9986 | 0.03179 |
| bench_outlier_mode | out/cycle_consistency | 63 | 0.9097 | 0.9408 | 0.895 | 0.9897 | 13.68 |
| bench_outlier_mode | out/dir_residual@lud | 63 | 0.7878 | 0.7025 | 0.9746 | 0.7887 | 0 |
| bench_outliers | out/rot_residual@l1_irls | 168 | 0.9957 | 0.9988 | 0.994 | 0.9981 | 0.04117 |
| bench_outliers | out/cycle_consistency | 168 | 0.995 | 0.9966 | 0.9945 | 0.9933 | 20.27 |
| bench_outliers | out/dir_residual@lud | 168 | 0.8684 | 0.793 | 0.988 | 0.8919 | 0 |
| bench_pgo | out/rot_residual@l1_irls | 105 | 0.9993 | 0.9996 | 0.9991 | 0.9995 | 0.07888 |
| bench_pgo | out/cycle_consistency | 105 | 0.9974 | 0.9975 | 0.9972 | 0.9944 | 37.06 |
| bench_pgo | out/dir_residual@lud | 105 | 0.9209 | 0.8676 | 0.9978 | 0.9564 | 0 |
| bench_scale | out/rot_residual@l1_irls | 126 | 0.9991 | 0.9995 | 0.9986 | 0.9987 | 0.04586 |
| bench_scale | out/cycle_consistency | 126 | 0.9968 | 0.9966 | 0.997 | 0.9932 | 14.84 |
| bench_scale | out/dir_residual@lud | 126 | 0.9019 | 0.8435 | 0.9957 | 0.9414 | 0 |
| bench_symmetry | out/rot_residual@l1_irls | 126 | 0.671 | 0.7202 | 0.6475 | 0.7164 | 0.05762 |
| bench_symmetry | out/dir_residual@lud | 126 | 0.5137 | 0.4123 | 0.8096 | 0.5356 | 0 |
| bench_symmetry | out/cycle_consistency | 126 | 0.2384 | 0.5312 | 0.2084 | 0.5047 | 27.66 |
| bench_topology | out/rot_residual@l1_irls | 70 | 0.9994 | 0.9999 | 0.999 | 0.9996 | 0.02762 |
| bench_topology | out/cycle_consistency | 70 | 0.9978 | 0.9975 | 0.998 | 0.9959 | 11.64 |
| bench_topology | out/dir_residual@lud | 70 | 0.908 | 0.8498 | 0.9973 | 0.9421 | 0 |
| bench_twoview | out/rot_residual@l1_irls | 63 | 0.9963 | 0.9996 | 0.9932 | 0.9995 | 0.0308 |
| bench_twoview | out/cycle_consistency | 63 | 0.9816 | 0.9967 | 0.9682 | 0.9931 | 11.5 |
| bench_twoview | out/dir_residual@lud | 63 | 0.907 | 0.8516 | 0.9937 | 0.9418 | 0 |
| bench_twoview_symmetry | out/rot_residual@l1_irls | 28 | 0.8914 | 0.9054 | 0.8805 | 0.9292 | 0.0342 |
| bench_twoview_symmetry | out/dir_residual@lud | 28 | 0.5177 | 0.3964 | 0.8724 | 0.5822 | 0 |
| bench_twoview_symmetry | out/cycle_consistency | 28 | 0.3317 | 0.9903 | 0.2504 | 0.8662 | 14.82 |
| test_wild | out/rot_residual@l1_irls | 2000 | 0.8513 | 0.8954 | 0.8324 | 0.8969 | 0.01443 |
| test_wild | out/dir_residual@lud | 2000 | 0.7875 | 0.7122 | 0.9137 | 0.8117 | 0 |
| test_wild | out/cycle_consistency | 2000 | 0.7845 | 0.9427 | 0.7557 | 0.8826 | 4.452 |
| test_wild_large | out/rot_residual@l1_irls | 139 | 0.8492 | 0.9151 | 0.8245 | 0.9017 | 0.09787 |
| test_wild_large | out/cycle_consistency | 139 | 0.7753 | 0.915 | 0.7526 | 0.8773 | 33.84 |
| test_wild_large | out/dir_residual@lud | 139 | 0.7679 | 0.6871 | 0.9175 | 0.7832 | 0 |