split,task,method,n_nodes,n_edges,outlier_ratio,time_s,rot_mean_deg,rot_median_deg,rot_rms_deg,rot_max_deg,rot_p90_deg,rot_acc_1deg,rot_acc_3deg,rot_acc_5deg,rot_acc_10deg,res_inlier_median_deg,res_outlier_median_deg,pos_mean,pos_median,pos_rms,pos_max,pos_mean_rel,pos_median_rel,pos_rms_rel,pos_max_rel,pos_acc_1pct,pos_acc_5pct,pos_scale,pgo_iterations,out_precision,out_recall,out_f1,out_n_pred,out_n_true,out_ap,n_graphs
bench_density,outlier,out/cycle_consistency,299.23809523809524,5408.587301587301,0.10109975650808938,4.40155565738678,,,,,,,,,,,,,,,,,,,,,,,,0.9690206067220359,0.9880465780749645,0.9778640904649709,327.7142857142857,326.3333333333333,0.958656170593246,126
bench_density,outlier,out/dir_residual@lud,299.23809523809524,5408.587301587301,0.10109975650808938,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.8147013575306882,0.9929230720738887,0.8829733284013058,504.6587301587302,436.0,0.9247097158908871,126
bench_density,outlier,out/rot_residual@l1_irls,299.23809523809524,5408.587301587301,0.10109975650808938,0.014273739996410552,,,,,,,,,,,,,,,,,,,,,,,,0.9978614766784831,0.996475544939271,0.9971563610013049,326.1111111111111,326.3333333333333,0.9965448378653534,126
bench_density,pgo,pgo/chain_init,299.23809523809524,5408.587301587301,0.10109975650808938,0.012709774668254549,45.36720811135566,34.03032244581006,68.82716696120042,161.56617373031892,101.99394476983386,0.603084212117455,0.6141225740494352,0.6141225740494352,0.6166358015626627,,,24.544950137786618,14.621651818659247,35.798314059760024,108.43011050481043,0.12770025329310145,0.07653197522307668,0.1842086495900567,0.5631423917353792,0.22014909479270214,0.5028072035650112,1.0,0.0,,,,,,,126
bench_density,pgo,pgo/lm_cauchy,299.23809523809524,5408.587301587301,0.10109975650808938,11.361526468443492,43.65766654784278,32.81417585338858,67.03300403949942,160.98877514846245,97.78697303542272,0.6261417198087847,0.6287622017325412,0.6287622017325412,0.6312225191928587,,,22.707714269349186,12.351652572562976,34.74415806375417,108.30955961995473,0.11349649641222509,0.062419429538400684,0.1718344428135019,0.5427063466805684,0.4787160554313082,0.5647475494723591,1.0,30.0,,,,,,,126
bench_density,pgo,pgo/lm_cauchy@rotavg_init,299.23809523809524,5408.587301587301,0.10109975650808938,11.92070974433233,0.31636470085187185,0.03488222702701689,2.3724693822582377,29.5718979262691,0.1897712680778742,0.9975779975219148,0.9978713363714671,0.9978713363714671,0.9978713363714671,,,0.3518008428175995,0.22099151093721228,0.7596456466419278,4.619543891116418,0.0019410007249472407,0.0010952237266976211,0.0062905796361627615,0.06474352331677055,0.9951836043983121,0.9971831306790635,1.0,30.0,,,,,,,126
bench_density,pgo,pgo/lm_huber,299.23809523809524,5408.587301587301,0.10109975650808938,8.809680119393365,2.719233897234295,2.771855144028339,6.813582996360873,51.06052781304802,5.047761755698822,0.9735466989872036,0.9757311881014951,0.9758646297100978,0.9761832473958653,,,1.9531504615173154,1.5484520493881306,2.641496582359454,9.338703786090635,0.008177557767513303,0.0058468070885554215,0.01372469284019902,0.08069838041947876,0.9604074532673913,0.9679014609611636,1.0,25.523809523809526,,,,,,,126
bench_density,pgo,pgo/lm_l2,299.23809523809524,5408.587301587301,0.10109975650808938,6.720735847003876,25.303632833435554,19.9061225129942,32.914961229322046,112.42378414778895,49.68053512982998,0.03365025281303018,0.20151320991640378,0.31841942317537975,0.49043542747866664,,,15.855809559041681,12.923227076164205,18.897981253352306,47.70303174218745,0.07719626152896943,0.06642636305492639,0.08926428184370248,0.2264080610278346,0.00905689523995709,0.5071133036985832,1.0,18.928571428571427,,,,,,,126
bench_density,rotation,rot/chordal_l2,299.23809523809524,5408.587301587301,0.10109975650808938,0.047852101780119394,7.569069304344707,5.706723500243509,10.544326137906303,52.199784725418276,15.204890989355333,0.15420964608888105,0.5232688971852928,0.6866079950067384,0.8453526133259319,2.5408065534952757,75.55930293010258,,,,,,,,,,,,,,,,,,,126
bench_density,rotation,rot/chordal_l2+irls_cauchy,299.23809523809524,5408.587301587301,0.10109975650808938,0.15182407129378545,0.3947796300157491,0.0932033118210914,2.5978577123782225,31.52069986234492,0.2936360303151239,0.9966722670284791,0.9978159115803124,0.9978159115803124,0.9978159115803124,0.12263183874734436,83.08682681588651,,,,,,,,,,,,,,,,,,,126
bench_density,rotation,rot/l1_irls,299.23809523809524,5408.587301587301,0.10109975650808938,0.5268987000934662,0.3791851680457097,0.09328575304700139,2.420138533728557,29.674566915044434,0.2937488742128299,0.99670060476183,0.9978713363714671,0.9978713363714671,0.9978713363714671,0.12264405366745533,83.34146134412563,,,,,,,,,,,,,,,,,,,126
bench_density,rotation,rot/l1_irls_info,299.23809523809524,5408.587301587301,0.10109975650808938,0.7196933106770591,7.84766840449575,3.8574649963205005,19.640164406236305,105.4629899928829,20.159025581861627,0.9292314936447015,0.933465724904029,0.9359260423643464,0.9395768360151401,0.11209590681856049,80.09056935586854,,,,,,,,,,,,,,,,,,,126
bench_density,rotation,rot/spanning_tree,299.23809523809524,5408.587301587301,0.10109975650808938,0.010949008048526825,45.36720811135566,34.03032244581006,68.82716696120042,161.56617373031892,101.99394476983386,0.603084212117455,0.6141225740494352,0.6141225740494352,0.6166358015626627,0.21691066565378062,87.76615679698448,,,,,,,,,,,,,,,,,,,126
bench_density,translation,trans/linear_cross@gt_rot,299.23809523809524,5408.587301587301,0.10109975650808938,0.06906381485954163,,,,,,,,,,,,11738159478.323347,20.123247796369675,23176969351.48017,51107846194.9245,51047755.09621226,0.1516332688474622,100793682.0222564,222261582.2189643,0.027197728655192016,0.20430792471643053,19986895080.545826,,,,,,,,126
bench_density,translation,trans/linear_cross@l1_irls,299.23809523809524,5408.587301587301,0.10109975650808938,0.06686375633118645,,,,,,,,,,,,9392877968.072134,19.947732063230216,18550907986.91021,47393260710.50949,40848425.71682002,0.15094933215968961,80675533.016172,206107330.69167656,0.027250371485612622,0.2044662955198216,15999000406.709126,,,,,,,,126
bench_density,translation,trans/lud@gt_rot,299.23809523809524,5408.587301587301,0.10109975650808938,5.260969419327993,,,,,,,,,,,,4.040800069781013,2.840871712751415,6.3425484167743145,30.311462325075464,0.020221615925818903,0.014074039174561506,0.032780090148583886,0.17900917794311408,0.7013824275981637,0.8947734567216779,63.81793313496751,,,,,,,,126
bench_density,translation,trans/lud@l1_irls,299.23809523809524,5408.587301587301,0.10109975650808938,4.675415688090855,,,,,,,,,,,,4.053842566816142,2.8330970789771834,6.350475241089618,30.40331462480854,0.020322116950313312,0.014058556782253954,0.03293813607180554,0.18061186421947756,0.7004235319150482,0.8947597580754184,63.79332127749397,,,,,,,,126
bench_heavytail,outlier,out/cycle_consistency,299.7142857142857,5760.190476190476,0.0015116852833185004,9.559774935245514,,,,,,,,,,,,,,,,,,,,,,,,0.9394719251336898,0.733161581186529,0.8126356018860639,7.9523809523809526,11.214285714285714,0.972308984377361,84
bench_heavytail,outlier,out/dir_residual@lud,299.7142857142857,5760.190476190476,0.0015116852833185004,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.6946323698395472,0.9060349691144717,0.7404231716106133,27.821428571428573,11.488095238095237,0.73683231416658,84
bench_heavytail,outlier,out/rot_residual@l1_irls,299.7142857142857,5760.190476190476,0.0015116852833185004,0.02323973746526809,,,,,,,,,,,,,,,,,,,,,,,,0.9700600876205648,0.9239232540769443,0.9447418561874701,10.511904761904763,11.214285714285714,0.9987561113323837,84
bench_heavytail,pgo,pgo/chain_init,299.7142857142857,5760.190476190476,0.0015116852833185004,0.013411445277077811,0.45793310105985024,0.39581666439131136,0.5411654486153783,1.4750897970308379,0.837098056148919,0.8928615048413706,0.9963478675223643,0.9990079365079365,1.0,,,1.3499018637626645,1.2014963501498772,1.5758618108423788,3.810052402022663,0.008876677465613273,0.008059443128934718,0.010145036920020842,0.02321142436397445,0.6950684853117739,0.9936170098670098,1.0,0.0,,,,,,,84
bench_heavytail,pgo,pgo/lm_cauchy,299.7142857142857,5760.190476190476,0.0015116852833185004,15.609691659609476,0.03196327442167529,0.026762412163197788,0.0454057850886682,0.3147807789576119,0.05290759196608508,0.99968227335677,0.9998806860551827,1.0,1.0,,,0.18418708892146057,0.1678424257080938,0.21168955056603636,0.5627211091561655,0.0009820964422905614,0.000904407717626252,0.0011094916792302979,0.003120330392104906,0.9999600511345479,1.0,1.0,30.0,,,,,,,84
bench_heavytail,pgo,pgo/lm_cauchy@rotavg_init,299.7142857142857,5760.190476190476,0.0015116852833185004,17.8247954419681,0.03094110219280321,0.02661082746992464,0.04008320235073613,0.21025171047788854,0.05173483001978208,0.9999600511345479,0.9999600511345479,1.0,1.0,,,0.18335111824491546,0.1662831129163918,0.21112786988347576,0.5710646479348481,0.0009784689134549505,0.0009005600711148096,0.0011021086328695973,0.003049736942527971,1.0,1.0,1.0,30.0,,,,,,,84
bench_heavytail,pgo,pgo/lm_huber,299.7142857142857,5760.190476190476,0.0015116852833185004,11.664403185957955,0.027891196760714942,0.0242562615647441,0.03412482186910251,0.1390755376623689,0.04691267968183725,1.0,1.0,1.0,1.0,,,0.1977704971049294,0.18369010065431043,0.22508365805371597,0.5667933710674948,0.0010478380695883107,0.0009865534363300596,0.001162110142544311,0.0028194880273510227,1.0,1.0,1.0,24.94047619047619,,,,,,,84
bench_heavytail,pgo,pgo/lm_l2,299.7142857142857,5760.190476190476,0.0015116852833185004,2.1441554455530074,0.03780121051565201,0.03178938970968899,0.04703511896986303,0.22178451849106637,0.06397664837198731,0.9998013209758176,1.0,1.0,1.0,,,0.23603560698003573,0.22230248983159312,0.26652290859439776,0.6512937180935386,0.0012342807661064636,0.0011715651271035608,0.0013595490876388986,0.0032330737372148802,1.0,1.0,1.0,4.940476190476191,,,,,,,84
bench_heavytail,rotation,rot/chordal_l2,299.7142857142857,5760.190476190476,0.0015116852833185004,0.05379957244509742,0.13715243259631202,0.11622877278452573,0.16644009313667468,0.7433626233266784,0.23787243973050667,0.9923782819252617,0.9997619047619049,0.9999603174603175,1.0,0.18901833630494982,6.983855154837311,,,,,,,,,,,,,,,,,,,84
bench_heavytail,rotation,rot/chordal_l2+irls_cauchy,299.7142857142857,5760.190476190476,0.0015116852833185004,0.1430019083477202,0.10326103639030763,0.09285300937461331,0.11851517334811469,0.40444827913480486,0.17371842084443403,0.9999203685948652,1.0,1.0,1.0,0.1655956762161759,7.327093698141262,,,,,,,,,,,,,,,,,,,84
bench_heavytail,rotation,rot/l1_irls,299.7142857142857,5760.190476190476,0.0015116852833185004,0.5705751038732982,0.10326097029130159,0.09285296866318205,0.11851507644535021,0.4044475580408773,0.17371823204347217,0.9999203685948652,1.0,1.0,1.0,0.16559567353428406,7.327093759620288,,,,,,,,,,,,,,,,,,,84
bench_heavytail,rotation,rot/l1_irls_info,299.7142857142857,5760.190476190476,0.0015116852833185004,0.7206372930890038,0.03454217074272544,0.029650481288876603,0.04233502253000013,0.19012682208110623,0.05847307933646227,0.9998806860551827,1.0,1.0,1.0,0.13605481496766042,7.375965842407318,,,,,,,,,,,,,,,,,,,84
bench_heavytail,rotation,rot/spanning_tree,299.7142857142857,5760.190476190476,0.0015116852833185004,0.01409769058227539,0.45793310105985024,0.39581666439131136,0.5411654486153783,1.4750897970308379,0.837098056148919,0.8928615048413706,0.9963478675223643,0.9990079365079365,1.0,0.2924776505947332,7.379974847569876,,,,,,,,,,,,,,,,,,,84
bench_heavytail,translation,trans/linear_cross@gt_rot,299.7142857142857,5760.190476190476,0.0015116852833185004,0.06777537152880714,,,,,,,,,,,,44.58122304340211,2.058431141866972,455.3641167602582,5763.4794549904345,0.2052501736976085,0.007775763135843638,2.1126088011203272,26.62853508764192,0.7578302007664424,0.9304880023839756,502.6755778872813,,,,,,,,84
bench_heavytail,translation,trans/linear_cross@l1_irls,299.7142857142857,5760.190476190476,0.0015116852833185004,0.06560515789758592,,,,,,,,,,,,46.23434259512776,2.1684773877275623,474.8566716361417,5950.978379339796,0.21296973213667605,0.00821146892184622,2.201863009718218,27.44614133550844,0.756835988673237,0.926201751847725,522.5157053202909,,,,,,,,84
bench_heavytail,translation,trans/lud@gt_rot,299.7142857142857,5760.190476190476,0.0015116852833185004,8.589717135542916,,,,,,,,,,,,0.47217341284426856,0.3606744090718364,0.6586893711893034,2.9948417092495068,0.0022810475756107553,0.0016790774343615137,0.003439834544459703,0.01924561075739999,0.9287553984953314,0.997419029768023,62.41121327890452,,,,,,,,84
bench_heavytail,translation,trans/lud@l1_irls,299.7142857142857,5760.190476190476,0.0015116852833185004,9.190294807865506,,,,,,,,,,,,0.4962898534643771,0.38918815543139007,0.6764486700811331,2.956154046195436,0.0023695459603659055,0.0017736489443541214,0.0035155979234891654,0.019253827002447464,0.9268088162467356,0.9973793472283405,62.40869379810923,,,,,,,,84
bench_matches,outlier,out/cycle_consistency,294.48809523809524,5433.4047619047615,0.10067999220204732,6.704781120731717,,,,,,,,,,,,,,,,,,,,,,,,0.9949299594300326,0.9962316996112301,0.9955307803966899,329.7857142857143,329.95238095238096,0.9923406006048523,84
bench_matches,outlier,out/dir_residual@lud,294.48809523809524,5433.4047619047615,0.10067999220204732,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.8512562641067399,0.9965421634613966,0.9095164225740973,508.0595238095238,437.0357142857143,0.9472821337114998,84
bench_matches,outlier,out/rot_residual@l1_irls,294.48809523809524,5433.4047619047615,0.10067999220204732,0.01702448016121274,,,,,,,,,,,,,,,,,,,,,,,,0.9994426795170338,0.9979036666570809,0.9986688803800151,329.60714285714283,329.95238095238096,0.9984759525168326,84
bench_matches,pgo,pgo/chain_init,294.48809523809524,5433.4047619047615,0.10067999220204732,0.016459558691297258,45.659408106802594,35.50351228716032,71.6577483674934,165.2508626242897,109.85695187374739,0.6118604840490228,0.6279832646559227,0.6279832646559227,0.6279832646559227,,,26.51769087800372,14.420928653048364,39.49639543972297,124.43581305051191,0.13432452718281537,0.07857393423850476,0.19549993115978198,0.6052156294202854,0.21759046384427613,0.5122840780177668,1.0,0.0,,,,,,,84
bench_matches,pgo,pgo/lm_cauchy,294.48809523809524,5433.4047619047615,0.10067999220204732,14.691993699187325,44.90769514140424,34.024342453162255,71.11079806144446,165.07328476237993,109.54779473000984,0.6315546932273511,0.6315546932273511,0.6315546932273511,0.6315546932273511,,,25.576429611634694,12.801980171487681,39.28622599365554,123.85453138759047,0.12395930242051814,0.06509224028766736,0.1899112403347445,0.6016155120652353,0.469741851998185,0.5637472585653888,1.0,30.0,,,,,,,84
bench_matches,pgo,pgo/lm_cauchy@rotavg_init,294.48809523809524,5433.4047619047615,0.10067999220204732,14.403158207734426,0.9294807124348716,0.027716068243492396,2.2748430202306253,10.611627591529716,1.8155232023154888,0.9936906868447378,0.9938105334410944,0.9938105334410944,0.9938105334410944,,,1.1842861192976895,0.9238986581225116,1.7252907110384994,6.489761666387897,0.0054295311931692285,0.004235719971353093,0.008299603828704623,0.03629906264455202,0.9862998764976583,0.987677357426889,1.0,30.0,,,,,,,84
bench_matches,pgo,pgo/lm_huber,294.48809523809524,5433.4047619047615,0.10067999220204732,11.596106855642228,1.4670982622095674,1.170007920245205,3.6182696318084853,21.966689528535877,3.716118864524939,0.9890666190208512,0.9892303545909104,0.989270037130593,0.9895961949909975,,,1.5215445148953095,1.1829298186691273,2.2295107073831963,7.788899560943835,0.006969832409556501,0.005436376357071197,0.010175391510288418,0.038220527246728926,0.9833865580901845,0.9852251684002118,1.0,24.05952380952381,,,,,,,84
bench_matches,pgo,pgo/lm_l2,294.48809523809524,5433.4047619047615,0.10067999220204732,10.818470929350172,19.85841899234735,15.98969010551705,26.160589759981832,98.27066936063886,39.52687201613467,0.01661461551217719,0.16600803847570722,0.3347751074417487,0.5713519241223427,,,12.278746206820458,10.587203567455818,14.563918749902127,37.21877932122578,0.07062912337105717,0.061054771691034716,0.08158664035265929,0.18618388147575743,0.016359422187252216,0.5790934161618013,1.0,17.666666666666668,,,,,,,84
bench_matches,rotation,rot/chordal_l2,294.48809523809524,5433.4047619047615,0.10067999220204732,0.0699252514612107,4.314681691608744,2.8320427873121554,6.48475921579064,39.83396326763428,7.856625580945795,0.15804043588210762,0.6674718468098534,0.8229571417932746,0.9394418963610943,2.2307258575751954,81.96165645434256,,,,,,,,,,,,,,,,,,,84
bench_matches,rotation,rot/chordal_l2+irls_cauchy,294.48809523809524,5433.4047619047615,0.10067999220204732,0.2079623057728722,1.0384225650327361,0.07727788684107238,2.7554384968891688,16.84003088915086,1.9083520204260398,0.9932409872519262,0.9932806697916087,0.9932806697916087,0.9932806697916087,0.12219886274284215,86.20197462602097,,,,,,,,,,,,,,,,,,,84
bench_matches,rotation,rot/l1_irls,294.48809523809524,5433.4047619047615,0.10067999220204732,0.750878285794031,0.9825952826247127,0.0773103217645091,2.327829209859767,10.755190456101316,1.9081998118386636,0.9937311683617293,0.9938105334410944,0.9938105334410944,0.9938105334410944,0.12215564882990858,86.38393000253761,,,,,,,,,,,,,,,,,,,84
bench_matches,rotation,rot/l1_irls_info,294.48809523809524,5433.4047619047615,0.10067999220204732,0.9860293496222723,2.952142374516945,1.2094701766890334,10.182762690679617,84.47158986808613,5.716241959529289,0.9787556474697662,0.9787556474697662,0.9787556474697662,0.9787556474697662,0.10793719320239611,85.59895712014391,,,,,,,,,,,,,,,,,,,84
bench_matches,rotation,rot/spanning_tree,294.48809523809524,5433.4047619047615,0.10067999220204732,0.019283121540432886,45.659408106802594,35.50351228716032,71.6577483674934,165.2508626242897,109.85695187374739,0.6118604840490228,0.6279832646559227,0.6279832646559227,0.6279832646559227,0.2332460605633923,99.21922238123427,,,,,,,,,,,,,,,,,,,84
bench_matches,translation,trans/linear_cross@gt_rot,294.48809523809524,5433.4047619047615,0.10067999220204732,0.0870030124982198,,,,,,,,,,,,52394945284.513336,16.825298903726146,366608869421.6044,2583632017415.0425,227716448.50560033,0.14453772469200898,1593338245.7363713,11228860379.986092,0.034309127982555455,0.23363126729037947,362872451651.33466,,,,,,,,84
bench_matches,translation,trans/linear_cross@l1_irls,294.48809523809524,5433.4047619047615,0.10067999220204732,0.08685194594519478,,,,,,,,,,,,10412630904.341002,16.939254452170537,42878414279.049065,230270297497.6101,45254889.218220934,0.14503840891097933,186356178.21085006,1000790412.2997617,0.03444704367787275,0.23359196908750146,41795625600.50661,,,,,,,,84
bench_matches,translation,trans/lud@gt_rot,294.48809523809524,5433.4047619047615,0.10067999220204732,6.657360054197765,,,,,,,,,,,,3.8372415227095256,3.083682395298961,5.200423941081775,20.85152688656778,0.021174186589676253,0.015846960436174052,0.030430022101066267,0.14031067091782867,0.7147490859368305,0.8806672600133103,63.12552643579039,,,,,,,,84
bench_matches,translation,trans/lud@l1_irls,294.48809523809524,5433.4047619047615,0.10067999220204732,6.514809202580225,,,,,,,,,,,,4.138688771797426,3.1786845060377167,6.043695610556408,31.380943897213985,0.02249978896216212,0.01625579645084409,0.03413069050068017,0.18636358049179438,0.713230124520892,0.8803435323715322,63.313625091775336,,,,,,,,84
bench_noise,outlier,out/cycle_consistency,299.6190476190476,5742.238095238095,0.11524672817558126,4.370487276388674,,,,,,,,,,,,,,,,,,,,,,,,0.9942576803688049,0.9170477906700197,0.9496378840493602,435.6530612244898,510.04761904761904,0.9870622618802318,147
bench_noise,outlier,out/dir_residual@lud,299.6190476190476,5742.238095238095,0.11524672817558126,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.850188699537995,0.9874094383079863,0.9052853400843868,622.7414965986394,534.6326530612245,0.9382188353691497,147
bench_noise,outlier,out/rot_residual@l1_irls,299.6190476190476,5742.238095238095,0.11524672817558126,0.01410600928222241,,,,,,,,,,,,,,,,,,,,,,,,0.9963505700189011,0.9849051364295196,0.9905069323825204,500.734693877551,510.04761904761904,0.9981881270395642,147
bench_noise,pgo,pgo/chain_init,299.6190476190476,5742.238095238095,0.11524672817558126,0.009764896769101928,48.232439120482375,41.204466712818935,72.48838899586539,167.36345328580614,116.70104298734815,0.4314682627031295,0.5499170303286527,0.5828752415193094,0.6059215701346452,,,26.62702506898132,15.783409111500415,38.061297325740455,114.64635877879591,0.11598781004251489,0.06951543178102645,0.17268719291798282,0.5630672417733591,0.16854007230924098,0.5434960970634901,1.0,0.0,,,,,,,147
bench_noise,pgo,pgo/lm_cauchy,299.6190476190476,5742.238095238095,0.11524672817558126,10.91781379252064,39.75073565498818,34.745006351434334,63.171960575128246,163.5605008999512,92.52335862151726,0.6583928954792554,0.6677018231820492,0.669154984255872,0.6705171395728297,,,19.33613325602883,10.498274461964314,30.182337466158742,98.49995420363864,0.08482913432406455,0.04661662628480836,0.13917641800291006,0.48452835876898454,0.5521327421569553,0.6587138769221094,1.0,30.0,,,,,,,147
bench_noise,pgo,pgo/lm_cauchy@rotavg_init,299.6190476190476,5742.238095238095,0.11524672817558126,11.46784190742337,0.22761114036959013,0.11429519274968877,1.0592263175066698,14.52471131109996,0.3889015720721665,0.9670333023924629,0.9946200270897607,0.9967995066542283,0.9981161552105863,,,0.2978108828780095,0.231329875056271,0.4368230785551622,2.055925623355665,0.0014425752041359076,0.0011165806767921098,0.0024908925897162634,0.018370475564969572,0.9940710421017119,0.9988639071447788,1.0,30.0,,,,,,,147
bench_noise,pgo,pgo/lm_huber,299.6190476190476,5742.238095238095,0.11524672817558126,8.260899224248874,0.38899447309207064,0.1108946087501538,2.482203966996658,32.481039231955606,0.48491724712326956,0.9659589476377208,0.9918909569192056,0.99454631638651,0.9961590578136179,,,0.4958224661684604,0.4245049196862258,0.6756665173303873,2.864815500513261,0.0024273797499541594,0.0020558911088912053,0.003478636518201989,0.019898388094576676,0.9892791825398766,0.9982506645299221,1.0,23.98639455782313,,,,,,,147
bench_noise,pgo,pgo/lm_l2,299.6190476190476,5742.238095238095,0.11524672817558126,5.6547206291536085,18.03548865210236,14.758199710160913,23.526236899379462,87.96352536714113,35.3770565677036,0.02231544081423016,0.2147092664606789,0.40686688554323747,0.6532656516353046,,,9.710819214591632,8.750319172796237,11.319204161681167,28.75681476166501,0.06379595425896506,0.056477597107864055,0.07330358548811676,0.16945185371408442,0.015249159413808324,0.6318899630844748,1.0,16.12925170068027,,,,,,,147
bench_noise,rotation,rot/chordal_l2,299.6190476190476,5742.238095238095,0.11524672817558126,0.04176615695564114,3.179278307776131,2.4384498249555526,4.562793868578887,29.42244675598517,5.822175161469997,0.17805676193892497,0.6902827265700551,0.8515528357094136,0.9557829884222137,2.4124469311213748,69.39117649245979,,,,,,,,,,,,,,,,,,,147
bench_noise,rotation,rot/chordal_l2+irls_cauchy,299.6190476190476,5742.238095238095,0.11524672817558126,0.17114957011475854,0.3089898098397862,0.21572182811595975,0.8264147660491464,9.238698413632273,0.49852939736726565,0.9416511050005804,0.9934893809147238,0.9970280226454561,0.9983216111303278,0.48188561347608505,72.66948825600225,,,,,,,,,,,,,,,,,,,147
bench_noise,rotation,rot/l1_irls,299.6190476190476,5742.238095238095,0.11524672817558126,0.5442277898593825,0.3339749108432721,0.21587945229419872,1.1505431899867464,14.727900995584651,0.54909944394488,0.9415368101243807,0.9932841540428304,0.996845471510524,0.9980934794736248,0.48196140316062064,72.68808154865327,,,,,,,,,,,,,,,,,,,147
bench_noise,rotation,rot/l1_irls_info,299.6190476190476,5742.238095238095,0.11524672817558126,0.5933176319615371,1.1831584046917183,0.10569865813238029,6.75008555065003,70.50640459561784,0.4932875107363804,0.9685653490980368,0.9875786497901108,0.9886006690526465,0.9894186066825292,0.46627032980985683,72.59519823794868,,,,,,,,,,,,,,,,,,,147
bench_noise,rotation,rot/spanning_tree,299.6190476190476,5742.238095238095,0.11524672817558126,0.009973272985341598,48.232439120482375,41.204466712818935,72.48838899586539,167.36345328580614,116.70104298734815,0.4314682627031295,0.5499170303286527,0.5828752415193094,0.6059215701346452,1.0923929399706898,91.68639220762776,,,,,,,,,,,,,,,,,,,147
bench_noise,translation,trans/linear_cross@gt_rot,299.6190476190476,5742.238095238095,0.11524672817558126,0.05121904165566373,,,,,,,,,,,,1890.9907091902671,17.081088699946136,14708.352077694559,125919.71264492655,8.315029403394318,0.15015889133303886,64.40367094605321,555.71353032636,0.03668980049932431,0.24639515179466756,14619.794014932191,,,,,,,,147
bench_noise,translation,trans/linear_cross@l1_irls,299.6190476190476,5742.238095238095,0.11524672817558126,0.049319314307907,,,,,,,,,,,,2172.8800268951754,17.007827354562526,17075.15323661407,146660.06429894286,9.539164642376013,0.1498329105213865,74.6851099339743,645.8672205134245,0.036644219977553315,0.24632612686688557,16969.870205590705,,,,,,,,147
bench_noise,translation,trans/lud@gt_rot,299.6190476190476,5742.238095238095,0.11524672817558126,3.352582581189214,,,,,,,,,,,,3.6639628728878013,2.746781468432501,4.9040285348056445,21.921115287837818,0.018796315552762476,0.013851247901330736,0.026247138743031646,0.12919146021094446,0.7326604489881325,0.8886441299112809,63.552085680224025,,,,,,,,147
bench_noise,translation,trans/lud@l1_irls,299.6190476190476,5742.238095238095,0.11524672817558126,3.357519143292693,,,,,,,,,,,,3.665092549163318,2.752017097554643,4.898257493643679,21.69319770133625,0.01879711790872689,0.013847159123212544,0.026236471238894332,0.12806827059563783,0.7323213184149423,0.8889608293240255,63.56023129033376,,,,,,,,147
bench_outlier_mode,outlier,out/cycle_consistency,298.8095238095238,5755.571428571428,0.30058885623173104,13.681929459647527,,,,,,,,,,,,,,,,,,,,,,,,0.94084411226605,0.8950440288396438,0.9096791274814419,1154.4603174603174,1151.7301587301588,0.9896824101177883,63
bench_outlier_mode,outlier,out/dir_residual@lud,298.8095238095238,5755.571428571428,0.30058885623173104,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.7025305595145928,0.9746025142498421,0.787776716016847,1457.8412698412699,1149.6507936507937,0.7886921987283758,63
bench_outlier_mode,outlier,out/rot_residual@l1_irls,298.8095238095238,5755.571428571428,0.30058885623173104,0.03178622987535265,,,,,,,,,,,,,,,,,,,,,,,,0.998491223535881,0.9893745269668237,0.9932708624171982,1152.015873015873,1151.7301587301588,0.998563054349818,63
bench_outlier_mode,pgo,pgo/chain_init,298.8095238095238,5755.571428571428,0.30058885623173104,0.01967137200491769,64.56241352921707,68.63364189261465,76.15233226971185,118.09589127137693,109.12760031546927,0.45585125019907624,0.471794163968077,0.471794163968077,0.47810196244978853,,,33.451559920937704,29.44469639099535,40.094243141943544,96.61471020824087,0.17235822120566793,0.1439382023028697,0.21032019128660698,0.5371062184004953,0.0428258215214737,0.2799915060784626,1.0,0.0,,,,,,,63
bench_outlier_mode,pgo,pgo/lm_cauchy,298.8095238095238,5755.571428571428,0.30058885623173104,24.82061971936907,64.44241162227674,68.539774025227,76.0515591220761,117.86671724491892,108.96482101446135,0.46819592645679603,0.471794163968077,0.471794163968077,0.47810196244978853,,,30.446535648851366,27.120116999002633,36.73016668629024,89.22118324835868,0.14977510268920963,0.12658028037060778,0.1857184568987742,0.48357122408588393,0.3618622922970749,0.4241722850418503,1.0,30.0,,,,,,,63
bench_outlier_mode,pgo,pgo/lm_cauchy@rotavg_init,298.8095238095238,5755.571428571428,0.30058885623173104,27.423617067791167,1.2141012184544486,0.03048760441429372,5.440197711144789,38.57065375482114,3.9455121255255814,0.9905128205128205,0.9906719045849481,0.9906719045849481,0.9906719045849481,,,0.7196085817895599,0.22115591489486872,2.1070142032732964,11.698988687747459,0.003625715382201417,0.0011260724472875346,0.012135091778850205,0.091889141386778,0.9876606324432412,0.9927214170692431,1.0,30.0,,,,,,,63
bench_outlier_mode,pgo,pgo/lm_huber,298.8095238095238,5755.571428571428,0.30058885623173104,20.37640546617054,2.2493659563578836,0.04450802591706328,7.117341193225503,44.37903426216273,4.79640914944194,0.9640255879386314,0.9651384686167295,0.9664612199394809,0.9672548707331315,,,1.6219910792197179,1.212321206940669,2.197344621870187,6.989124718275332,0.00812094421271201,0.005904055534771632,0.012211379849929165,0.06376254998854823,0.8045116879899489,0.9733643007556051,1.0,28.333333333333332,,,,,,,63
bench_outlier_mode,pgo,pgo/lm_l2,298.8095238095238,5755.571428571428,0.30058885623173104,14.936589823828804,31.958184667103275,26.84548148068688,38.627019987966456,113.644028371643,61.179020247679624,0.33333315637663463,0.33518553909858256,0.3418095592008636,0.38473801560758086,,,26.9554383384528,25.982923036982125,30.23664541809553,58.94666421379966,0.1389460720759868,0.13213597668539903,0.15166548131375668,0.27683597230380386,0.007466157031374423,0.09131620392489957,1.0,20.634920634920636,,,,,,,63
bench_outlier_mode,rotation,rot/chordal_l2,298.8095238095238,5755.571428571428,0.30058885623173104,0.06698256825643872,16.920674915676162,11.404298886573173,24.92144189521098,111.00794347988958,35.02046963765871,0.33401656314699796,0.36000318522057656,0.4117686822034648,0.5904822070039462,9.404488528716746,84.35658797617096,,,,,,,,,,,,,,,,,,,63
bench_outlier_mode,rotation,rot/chordal_l2+irls_cauchy,298.8095238095238,5755.571428571428,0.30058885623173104,0.47552627230447436,1.3648786047670158,0.10584876682012295,6.453208018306445,48.65335922681065,0.2282362567227785,0.9890865495213321,0.9899998230433013,0.9899998230433013,0.9901148448974536,0.12923882490294303,88.55269517395678,,,,,,,,,,,,,,,,,,,63
bench_outlier_mode,rotation,rot/l1_irls,298.8095238095238,5755.571428571428,0.30058885623173104,0.9736479880317809,1.2963680706658214,0.10504470306828517,5.481965617886631,38.688412678441615,4.076965180428885,0.9892383783688131,0.9905657305657305,0.9905657305657305,0.9905657305657305,0.12875902145619053,88.66764168567391,,,,,,,,,,,,,,,,,,,63
bench_outlier_mode,rotation,rot/l1_irls_info,298.8095238095238,5755.571428571428,0.30058885623173104,1.0554676964169456,9.90753570449788,2.262675403885313,24.05106565305677,113.42026435130444,29.427598408038396,0.914807205676771,0.9149659358355011,0.9149659358355011,0.9149659358355011,0.12756948618125108,88.33515298627528,,,,,,,,,,,,,,,,,,,63
bench_outlier_mode,rotation,rot/spanning_tree,298.8095238095238,5755.571428571428,0.30058885623173104,0.019082758161756728,64.56241352921707,68.63364189261465,76.15233226971185,118.09589127137693,109.12760031546927,0.45585125019907624,0.471794163968077,0.471794163968077,0.47810196244978853,30.183430318284824,87.7036294849734,,,,,,,,,,,,,,,,,,,63
bench_outlier_mode,translation,trans/linear_cross@gt_rot,298.8095238095238,5755.571428571428,0.30058885623173104,0.08585941223871141,,,,,,,,,,,,102.50775200230056,20.060127122922484,748.944696405523,8244.619036397426,0.4781394287606135,0.11972028893525033,3.2909115081716527,36.08597808749772,0.26816141990055037,0.3794848790500964,773.7972692065524,,,,,,,,63
bench_outlier_mode,translation,trans/linear_cross@l1_irls,298.8095238095238,5755.571428571428,0.30058885623173104,0.08047846006968665,,,,,,,,,,,,100.06878858191388,20.51314823500784,645.0073310151237,6656.438000848125,0.468198500038858,0.12205518227569993,2.8406947114845664,29.19924511387255,0.24219709437100742,0.37025977243368546,669.233353940274,,,,,,,,63
bench_outlier_mode,translation,trans/lud@gt_rot,298.8095238095238,5755.571428571428,0.30058885623173104,7.318018515904744,,,,,,,,,,,,3.75647365188226,3.197653704414579,4.726143417443293,18.05544258498527,0.02802982713229587,0.023197893914942,0.034700876973149754,0.11987500580705474,0.621381677903417,0.8298717063934455,62.53047723954463,,,,,,,,63
bench_outlier_mode,translation,trans/lud@l1_irls,298.8095238095238,5755.571428571428,0.30058885623173104,8.760474689423091,,,,,,,,,,,,4.123808484460612,3.33586646193289,5.403603398978015,22.05389707608977,0.02970066188194903,0.023800661129865917,0.038365933972104804,0.14783010816514372,0.6101157296809471,0.8253053387835997,62.44574136136189,,,,,,,,63
bench_outliers,outlier,out/cycle_consistency,299.3333333333333,5746.619047619048,0.269294416193291,20.2729681063266,,,,,,,,,,,,,,,,,,,,,,,,0.9966296686532999,0.9944908364869135,0.9949527011668374,926.9166666666666,924.6190476190476,0.9932965518455215,168
bench_outliers,outlier,out/dir_residual@lud,299.3333333333333,5746.619047619048,0.269294416193291,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.7929540351708373,0.9880292029853774,0.8683992187442262,1571.4404761904761,1233.9761904761904,0.8919383062831161,168
bench_outliers,outlier,out/rot_residual@l1_irls,299.3333333333333,5746.619047619048,0.269294416193291,0.041171462762923466,,,,,,,,,,,,,,,,,,,,,,,,0.9987681624935293,0.9939751644715253,0.9957302563981939,924.7380952380952,924.6190476190476,0.998116205941852,168
bench_outliers,pgo,pgo/chain_init,299.3333333333333,5746.619047619048,0.269294416193291,0.03385237285069057,62.73595570193437,64.47473211826075,81.32416843070179,152.13727922800044,120.01743637287126,0.46467737094039613,0.486979191904413,0.486979191904413,0.4877544662199559,,,32.02183156456876,24.24569495887976,41.43627626825092,111.83808561850282,0.16169256242430963,0.12535475394043502,0.20891274983458424,0.5683857713066024,0.20247897024149353,0.3995086890391282,1.0,0.0,,,,,,,168
bench_outliers,pgo,pgo/lm_cauchy,299.3333333333333,5746.619047619048,0.269294416193291,36.44428490315165,62.342065683747684,64.08748321237844,81.09719303747987,152.0801421157369,120.12379617100466,0.4873203552153751,0.4900013235758736,0.4900013235758736,0.49077659789141637,,,30.39786194113891,22.15370283727543,40.33190773167769,109.3647321919988,0.15392908700063102,0.11557897010625029,0.20433407448404278,0.5612885579029643,0.3506968429723745,0.42925084837800787,1.0,30.0,,,,,,,168
bench_outliers,pgo,pgo/lm_cauchy@rotavg_init,299.3333333333333,5746.619047619048,0.269294416193291,38.6239353900864,0.7408805189650931,0.033523492509193904,3.648929228705657,30.550049305532177,1.2943938426714283,0.9934294627697623,0.9942889114899929,0.9942889114899929,0.9942889114899929,,,0.5225014114478763,0.21629129428923952,1.1846716278503369,5.9967352164768934,0.0030424877713286728,0.001143465445393497,0.008965507011190662,0.07262531865128358,0.9853573065599238,0.9918876873865676,1.0,30.0,,,,,,,168
bench_outliers,pgo,pgo/lm_huber,299.3333333333333,5746.619047619048,0.269294416193291,30.840794744945708,2.843783104653893,1.255252047567643,8.362290378948908,54.51647140840385,7.369018437415005,0.9410042059234291,0.960933560200256,0.9668167501222985,0.9685877883402285,,,2.4551593630163016,1.7145746212521744,3.5564028327037818,12.403115599496399,0.01235098553136737,0.008636179701360146,0.01873283813457305,0.08571699294741748,0.7653985076401585,0.9552269945284848,1.0,26.31547619047619,,,,,,,168
bench_outliers,pgo,pgo/lm_l2,299.3333333333333,5746.619047619048,0.269294416193291,25.433163623015087,35.513227800714674,30.133923417178558,43.79055910423779,118.8139799251565,69.00972116857572,0.13630866962267327,0.20435885721387897,0.2662441443047534,0.38810587903592314,,,23.008908900993237,22.12430396992801,25.741053240326913,52.803054074897624,0.12275527451899933,0.11505908829673864,0.13540011323649162,0.2681161308249967,0.13882813356854076,0.3414422067626021,1.0,21.31547619047619,,,,,,,168
bench_outliers,rotation,rot/chordal_l2,299.3333333333333,5746.619047619048,0.269294416193291,0.12177042592139471,11.184837285161814,7.719767216849833,17.23827122224085,87.83787649144844,22.069591679597924,0.20734476022520745,0.42265003802426826,0.5541564557849323,0.7357794125413916,6.7959165454590655,78.76081851857107,,,,,,,,,,,,,,,,,,,168
bench_outliers,rotation,rot/chordal_l2+irls_cauchy,299.3333333333333,5746.619047619048,0.269294416193291,0.5838848111175355,1.7774789641567326,0.7626407154142495,6.389904263141325,45.98715021230339,5.7368274296454445,0.9855623430991555,0.9862610555959274,0.9862809632245307,0.9862809632245307,0.1279551553177024,81.95720246818533,,,,,,,,,,,,,,,,,,,168
bench_outliers,rotation,rot/l1_irls,299.3333333333333,5746.619047619048,0.269294416193291,1.6285617422489893,0.8042332499120719,0.09209867330384468,3.7011340352019677,30.6992849153744,1.3708733825522792,0.9925127040024784,0.9942287141353106,0.9942486217639138,0.9942486217639138,0.12779751676790552,81.8797922485823,,,,,,,,,,,,,,,,,,,168
bench_outliers,rotation,rot/l1_irls_info,299.3333333333333,5746.619047619048,0.269294416193291,1.9324036907582056,9.260810671334811,6.422414251094414,22.356203119791864,116.10788127080654,20.831285780900433,0.923322382202638,0.9235413015399553,0.9235612759726815,0.9235612759726815,0.12186538110155062,84.71587886462514,,,,,,,,,,,,,,,,,,,168
bench_outliers,rotation,rot/spanning_tree,299.3333333333333,5746.619047619048,0.269294416193291,0.032469346409752256,62.73595570193437,64.47473211826075,81.32416843070179,152.13727922800044,120.01743637287126,0.46467737094039613,0.486979191904413,0.486979191904413,0.4877544662199559,22.27573588800294,106.67602551711694,,,,,,,,,,,,,,,,,,,168
bench_outliers,translation,trans/linear_cross@gt_rot,299.3333333333333,5746.619047619048,0.269294416193291,0.16366601841790335,,,,,,,,,,,,6918.030923912415,20.14721101187889,46793.80224899334,473432.8443415736,30.518550790728483,0.13819811350502048,209.88313059624403,2166.0354326354504,0.11366504932836492,0.26409442093991164,46155.24370843992,,,,,,,,168
bench_outliers,translation,trans/linear_cross@l1_irls,299.3333333333333,5746.619047619048,0.269294416193291,0.15973196568943204,,,,,,,,,,,,6819.373540107229,20.125484475537142,46981.9181405542,485944.042109833,30.088160845946213,0.13807397217403194,210.68557656637174,2220.2257040698832,0.11362576627733692,0.2634373048244211,46358.22233011286,,,,,,,,168
bench_outliers,translation,trans/lud@gt_rot,299.3333333333333,5746.619047619048,0.269294416193291,12.640381532055992,,,,,,,,,,,,4.27776930415947,3.358077377663375,5.512067023638591,20.10256447588316,0.029173197246390132,0.023246579447849514,0.0376007740647116,0.14130029904983973,0.578477182220862,0.826492045751199,62.11881190989369,,,,,,,,168
bench_outliers,translation,trans/lud@l1_irls,299.3333333333333,5746.619047619048,0.269294416193291,12.464687869662331,,,,,,,,,,,,4.4184972207376525,3.438355155905234,5.736660702689606,22.235946305279917,0.029875325310901254,0.02365027807346724,0.03875689960800525,0.15185355077210408,0.5784167108096758,0.8256561750376802,62.055190995455916,,,,,,,,168
bench_pgo,outlier,out/cycle_consistency,499.8095238095238,9930.190476190477,0.10053739133058763,37.05856540316627,,,,,,,,,,,,,,,,,,,,,,,,0.9975050358820934,0.9972031888533632,0.9973505120851155,594.4761904761905,594.6190476190476,0.9943982097199363,105
bench_pgo,outlier,out/dir_residual@lud,499.8095238095238,9930.190476190477,0.10053739133058763,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.8675518909765227,0.9977632524692184,0.9209263719166548,914.0,798.6190476190476,0.9563858506339316,105
bench_pgo,outlier,out/rot_residual@l1_irls,499.8095238095238,9930.190476190477,0.10053739133058763,0.0788830007825579,,,,,,,,,,,,,,,,,,,,,,,,0.9996078900361194,0.9990905541239843,0.9993486289420556,594.3809523809524,594.6190476190476,0.9995297442161416,105
bench_pgo,pgo,pgo/chain_init,499.8095238095238,9930.190476190477,0.10053739133058763,0.0682485512324742,45.786746072442966,25.499593086911872,72.96732924609206,174.3601043816946,114.72553020139152,0.6137779285696046,0.635495663550921,0.635495663550921,0.635495663550921,,,30.746173037198254,14.173970639545992,51.330423221363475,193.19354013832609,0.1312337358160131,0.07875900429595495,0.19333585625580613,0.6731342296246465,0.2022503617179746,0.48585451028530185,1.0,0.0,,,,,,,105
bench_pgo,pgo,pgo/lm_cauchy,499.8095238095238,9930.190476190477,0.10053739133058763,81.31575776735941,43.21310943271762,25.31106758044732,70.94723857799902,173.9585429526484,112.42349159133182,0.6614575683128258,0.6614766159318733,0.6614766159318733,0.6614766159318733,,,26.069288610227456,11.410110713345679,45.71953642067856,182.38974224016204,0.09870088926466476,0.05225508756751193,0.1598331924871194,0.6294445034276559,0.40821222400727486,0.6076987611708998,1.0,30.0,,,,,,,105
bench_pgo,pgo,pgo/lm_cauchy@rotavg_init,499.8095238095238,9930.190476190477,0.10053739133058763,88.05923354058038,0.08548714298825799,0.0264164979433064,0.8680267021468934,15.151382117523793,0.04814207222146483,0.999427423977014,0.999427423977014,0.999427423977014,0.999427423977014,,,2.8446455271776894,2.8392091063657015,3.161899701721799,6.4755474926489764,0.010618186508710025,0.010447492734946788,0.0120764980428117,0.03686294578256876,0.694802570629426,0.9381366859041451,1.0,30.0,,,,,,,105
bench_pgo,pgo,pgo/lm_huber,499.8095238095238,9930.190476190477,0.10053739133058763,59.08791058404105,0.09224572504341468,0.025216568195399452,1.0930341355562965,20.874494961051454,0.047305866500702815,0.9979033840412452,0.9984179378782476,0.9988561862634919,0.9990657100730156,,,3.806726735639934,3.8125285523231804,4.1994334538792675,8.01975765965537,0.013991105909840124,0.013802198056970291,0.015513705300793003,0.04100351561952789,0.6496418693091845,0.8954363099678326,1.0,23.095238095238095,,,,,,,105
bench_pgo,pgo,pgo/lm_l2,499.8095238095238,9930.190476190477,0.10053739133058763,44.72974086943127,15.338027000026868,12.022975254451776,20.35545624922108,89.18794786281855,31.070895697531828,0.015923422431717897,0.14996183402543325,0.32954336888781877,0.6278195873590623,,,16.822890451463167,15.947029055001265,19.017889416753096,40.80037679901247,0.06426104060373074,0.059605398646174035,0.07109571207843925,0.14935164584940633,0.020811828197930784,0.5246209957137615,1.0,16.63809523809524,,,,,,,105
bench_pgo,rotation,rot/chordal_l2,499.8095238095238,9930.190476190477,0.10053739133058763,0.32060228756495884,2.9917423399759704,2.5065016081493843,4.104871194699707,31.456626281820494,5.010226107675136,0.1528611193835405,0.7090829527215781,0.8704580036762227,0.9562803587437402,2.0946361231621893,81.60209144205804,,,,,,,,,,,,,,,,,,,105
bench_pgo,rotation,rot/chordal_l2+irls_cauchy,499.8095238095238,9930.190476190477,0.10053739133058763,0.8239359106336321,0.14965492012193005,0.07959356325305608,0.9234731910908415,13.854978562045021,0.14255958170186975,0.9991409439555551,0.9994272331191077,0.9994272331191077,0.9994272331191077,0.11926185470939672,85.40905729442953,,,,,,,,,,,,,,,,,,,105
bench_pgo,rotation,rot/l1_irls,499.8095238095238,9930.190476190477,0.10053739133058763,3.1459358147212435,0.14269815963688276,0.07958412737160234,0.9188357856788085,15.236580835568809,0.14265681570313368,0.9992363729086995,0.999427423977014,0.999427423977014,0.999427423977014,0.11926224075117088,85.44979360973055,,,,,,,,,,,,,,,,,,,105
bench_pgo,rotation,rot/l1_irls_info,499.8095238095238,9930.190476190477,0.10053739133058763,3.7779650324866885,0.6778110630927502,0.035206030657770525,6.477825602312883,82.5127305444247,0.08946680382288544,0.9948533118742995,0.9948533118742995,0.9948533118742995,0.9948533118742995,0.10706011175770846,85.811649769621,,,,,,,,,,,,,,,,,,,105
bench_pgo,rotation,rot/spanning_tree,499.8095238095238,9930.190476190477,0.10053739133058763,0.05719158081781296,45.786746072442966,25.499593086911872,72.96732924609206,174.3601043816946,114.72553020139152,0.6137779285696046,0.635495663550921,0.635495663550921,0.635495663550921,0.24218398714035272,100.56620954506005,,,,,,,,,,,,,,,,,,,105
bench_pgo,translation,trans/linear_cross@gt_rot,499.8095238095238,9930.190476190477,0.10053739133058763,0.39072566486540294,,,,,,,,,,,,2561.7542853936725,19.641442009437267,27696.956248815757,309383.05762745504,7.662589552722847,0.13244397363508273,83.22268874213644,954.8725593851453,0.038572578327105485,0.2593515339580186,27630.13392018749,,,,,,,,105
bench_pgo,translation,trans/linear_cross@l1_irls,499.8095238095238,9930.190476190477,0.10053739133058763,0.3908407756260463,,,,,,,,,,,,2747.8190950740072,19.689082083167005,29797.568223908987,333006.0815146586,8.20490235083552,0.13257027481477773,89.35838223760514,1024.1242732483581,0.03866781642234358,0.25906581967230424,29722.50515980504,,,,,,,,105
bench_pgo,translation,trans/lud@gt_rot,499.8095238095238,9930.190476190477,0.10053739133058763,26.23515667915344,,,,,,,,,,,,2.4672119880139842,1.5933729071212186,3.77670405186396,20.663450685246517,0.009314200355972024,0.006071817795969636,0.014789973816750056,0.09452886377025872,0.7881523664364276,0.965802632187821,85.08286123919129,,,,,,,,105
bench_pgo,translation,trans/lud@l1_irls,499.8095238095238,9930.190476190477,0.10053739133058763,24.946421010153635,,,,,,,,,,,,2.4926022299428725,1.612938166114959,3.864422905368337,21.552226842140495,0.009387189907315,0.006122626943932557,0.015112265069071424,0.09651208044922895,0.7868188422451879,0.9659931083782973,85.11782061429341,,,,,,,,105
bench_scale,outlier,out/cycle_consistency,732.8333333333334,14753.492063492064,0.10055395577618255,14.843477056139992,,,,,,,,,,,,,,,,,,,,,,,,0.9965525847546832,0.9970118654830794,0.9967548305829889,886.1984126984127,887.6428571428571,0.993232098794849,126
bench_scale,outlier,out/dir_residual@lud,732.8333333333334,14753.492063492064,0.10055395577618255,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.8435317556017489,0.9956510530699986,0.9018826982054332,1350.2063492063492,1194.095238095238,0.9413859674464249,126
bench_scale,outlier,out/rot_residual@l1_irls,732.8333333333334,14753.492063492064,0.10055395577618255,0.045859281978909934,,,,,,,,,,,,,,,,,,,,,,,,0.9995199429433942,0.998643829996973,0.9990795542594981,887.2301587301587,887.6428571428571,0.9987274026748082,126
bench_scale,pgo,pgo/chain_init,379.51428571428573,7403.161904761905,0.10055773711073983,0.016279588426862446,37.819858909352064,28.81113075470793,58.43611503159494,135.23997919200758,90.40215545036502,0.6692636449099175,0.6768265449356232,0.6768265449356232,0.6768265449356232,,,27.552569595926638,17.574627838362776,39.245841154847284,114.43609925376006,0.10340726175363692,0.06448056030445051,0.14913858500600335,0.45819490392111445,0.31747010147192606,0.5976749548765363,1.0,0.0,,,,,,,105
bench_scale,pgo,pgo/lm_cauchy,379.51428571428573,7403.161904761905,0.10055773711073983,20.41443359284174,37.149939436007664,28.2489016009633,57.91595298935277,135.06413861397004,89.51528232724921,0.6764834198242744,0.6803122592213374,0.6803122592213374,0.6804551163641946,,,25.712456785098396,15.801348142355794,38.14607863701327,114.29841544852022,0.09506208557055057,0.0548985029724977,0.1443033528256657,0.4503685952608269,0.5433469093358558,0.6299164884676937,1.0,30.0,,,,,,,105
bench_scale,pgo,pgo/lm_cauchy@rotavg_init,379.51428571428573,7403.161904761905,0.10055773711073983,20.73572530973525,0.7034253616003072,0.032073485926562055,1.6289411554787023,10.136990797285929,1.5154949454480497,0.995468766617931,0.9955070148489503,0.9955070148489503,0.9955070148489503,,,0.25199909790157554,0.2250316953099886,0.30169330264111516,1.0082516909150114,0.0019094827420560597,0.001337952611752691,0.00278628970491232,0.011503834787073952,0.9874654187213326,0.9966225615784755,1.0,30.0,,,,,,,105
bench_scale,pgo,pgo/lm_huber,379.51428571428573,7403.161904761905,0.10055773711073983,15.122643886293684,0.4620102876896044,0.031794719391845354,1.8659766041853798,19.704707410506593,0.7750443687327956,0.9928397936403637,0.9929923371190115,0.9932685275952021,0.9945351942618688,,,0.44389984472455774,0.4196404298534983,0.5165649768532099,1.4591447160713373,0.002737014102311036,0.002205572417256379,0.0035098279833375534,0.012747722521207679,0.9838127613849159,0.9963009633289204,1.0,23.476190476190474,,,,,,,105
bench_scale,pgo,pgo/lm_l2,379.51428571428573,7403.161904761905,0.10055773711073983,14.95036526180449,19.637529803736278,15.131723071416763,25.921407687168053,91.11556970617652,40.37275962176803,0.030268086585914945,0.21294101107373498,0.36645361244801095,0.5827243379760162,,,14.306214075567969,11.875571412023984,16.75330129133231,41.38958874091385,0.06617664963144079,0.05972026465066438,0.07515741982032237,0.16496949736175245,0.020946554462316972,0.5558655203954594,1.0,16.36190476190476,,,,,,,105
bench_scale,rotation,rot/chordal_l2,732.8333333333334,14753.492063492064,0.10055395577618255,0.37712766442980084,4.472932885653202,3.6389977534615885,5.9979724040949325,39.03026239324404,7.699762265225813,0.15092521205699813,0.623022698111265,0.8059978681115874,0.9200418113279499,2.348816086095052,81.62118626155086,,,,,,,,,,,,,,,,,,,126
bench_scale,rotation,rot/chordal_l2+irls_cauchy,732.8333333333334,14753.492063492064,0.10055395577618255,0.864220488639105,0.17703494957175367,0.10165276863079735,0.9468147778026468,15.469327386754047,0.19846038911179614,0.9901264951068521,0.9994713299780592,0.9994713299780592,0.9994713299780592,0.13589680343293503,86.60144109357596,,,,,,,,,,,,,,,,,,,126
bench_scale,rotation,rot/l1_irls,732.8333333333334,14753.492063492064,0.10055395577618255,2.7160542105871532,0.6682357362648005,0.10158205932148688,1.5389470994496632,13.045363886837531,1.39994034801632,0.9868665600380259,0.9962367917346298,0.9962367917346298,0.9962367917346298,0.13589027050846106,86.597712417748,,,,,,,,,,,,,,,,,,,126
bench_scale,rotation,rot/l1_irls_info,732.8333333333334,14753.492063492064,0.10055395577618255,2.672545173811534,1.875553848659719,0.054122734514996856,7.811008801061531,87.82593605857397,3.877929868858921,0.9835145665265216,0.9836542605360671,0.9836542605360671,0.9836542605360671,0.11457618549076366,85.80086120534457,,,,,,,,,,,,,,,,,,,126
bench_scale,rotation,rot/spanning_tree,732.8333333333334,14753.492063492064,0.10055395577618255,0.03776789279211135,44.69607777707303,37.90274112800774,65.41058389208868,142.51509857596042,100.58161347791095,0.6129070929050885,0.6199845359925693,0.6203178693259026,0.6211204271053372,0.2370304799177187,97.49153752805604,,,,,,,,,,,,,,,,,,,126
bench_scale,translation,trans/linear_cross@gt_rot,732.8333333333334,14753.492063492064,0.10055395577618255,0.38655981563386466,,,,,,,,,,,,5878.106347579239,22.392974846527654,111517.44630993032,2830217.6207286166,12.708907431046695,0.13537496726972428,203.22264637938213,4712.187134109187,0.03697086678076465,0.25011194548689464,111438.78552743574,,,,,,,,126
bench_scale,translation,trans/linear_cross@l1_irls,732.8333333333334,14753.492063492064,0.10055395577618255,0.38542290150173125,,,,,,,,,,,,5871.9218515332495,22.41262378131906,110696.3885254196,2775272.3489802405,12.892941324580132,0.1341236089270216,207.3025024122469,4771.11305493168,0.036799710384748364,0.2498685434783735,110618.90029297295,,,,,,,,126
bench_scale,translation,trans/lud@gt_rot,732.8333333333334,14753.492063492064,0.10055395577618255,23.644915561827403,,,,,,,,,,,,3.1195631039942464,2.479181945852603,4.2185416965319815,23.907878584786623,0.016258511027025788,0.012425652420707171,0.02232581800176679,0.09702382061613493,0.7546597308501719,0.9038786711530269,102.04744515968504,,,,,,,,126
bench_scale,translation,trans/lud@l1_irls,732.8333333333334,14753.492063492064,0.10055395577618255,22.751057944600543,,,,,,,,,,,,3.1956809252753517,2.5373884607530135,4.307038301190181,24.31496948675738,0.017012653729698967,0.013177421233606412,0.023204691196801838,0.09951883138154215,0.7535202187277633,0.8997997389998188,102.05866596915841,,,,,,,,126
bench_symmetry,outlier,out/cycle_consistency,299.42857142857144,7082.809523809524,0.14853058558573679,27.65995132166242,,,,,,,,,,,,,,,,,,,,,,,,0.5311827956989247,0.2083757521950305,0.23841574501259555,1.1587301587301588,788.7857142857143,0.5047345069856968,126
bench_symmetry,outlier,out/dir_residual@lud,299.42857142857144,7082.809523809524,0.14853058558573679,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.41234585958706116,0.8096089168590802,0.5137421992425529,2487.3809523809523,970.063492063492,0.5355737392074582,126
bench_symmetry,outlier,out/rot_residual@l1_irls,299.42857142857144,7082.809523809524,0.14853058558573679,0.0576168487942408,,,,,,,,,,,,,,,,,,,,,,,,0.7201694084146495,0.6474964125985063,0.6710178548793239,638.3174603174604,788.7857142857143,0.7164439902636457,126
bench_symmetry,pgo,pgo/chain_init,299.42857142857144,7082.809523809524,0.14853058558573679,0.04125376542409261,0.7615254866034404,0.2708935594730168,1.1533373074029512,3.0057583459417856,1.2318040726506057,0.9478455521933783,0.9954876041832563,0.9954876041832563,0.9954876041832563,,,1.3999742860968163,0.7691149113733622,2.0340664550358505,6.8862859375790055,0.00972581738437646,0.006488644301862031,0.013306219412820045,0.04652304232862976,0.7470289165241266,0.9947404270175089,1.0,0.0,,,,,,,126
bench_symmetry,pgo,pgo/lm_cauchy,299.42857142857144,7082.809523809524,0.14853058558573679,60.33031425400386,0.49367521625262023,0.0238099027726574,0.8566403574610552,2.2977620629219273,0.7584830528539592,0.9954876041832563,0.9954876041832563,0.9954876041832563,0.9954876041832563,,,0.7252378373603342,0.18042752610361623,1.2710884899065162,4.825596734040757,0.0034915044660653273,0.0010733783328159025,0.006141289688071318,0.026924526894355497,0.9952192898397761,0.9953527271876572,1.0,30.0,,,,,,,126
bench_symmetry,pgo,pgo/lm_cauchy@rotavg_init,299.42857142857144,7082.809523809524,0.14853058558573679,63.803145418091425,19.944056171616005,5.733691201170909,28.65339132093338,44.40775968278905,42.181635397391275,0.8674950009732619,0.8674950009732619,0.8674950009732619,0.8674950009732619,,,10.335302648904502,7.672303315043526,13.242011267502331,29.518617179160326,0.08073585419756053,0.04230932455587561,0.10875228929159556,0.23522612427099354,0.7409030670195004,0.7515976760486709,1.0,29.976190476190474,,,,,,,126
bench_symmetry,pgo,pgo/lm_huber,299.42857142857144,7082.809523809524,0.14853058558573679,54.3772981923724,17.49260500487985,7.1218818975646405,24.797306676065208,38.58174611507957,36.31694580005657,0.7494789510006902,0.8139763054980447,0.8372567287784679,0.8606958822176213,,,13.215539575895116,11.23705718662435,16.174248509606343,33.87254077302195,0.12640802131951417,0.10458459566703854,0.15071698630661018,0.28034450148478723,0.4398764092426583,0.5551443756712733,1.0,27.88888888888889,,,,,,,126
bench_symmetry,pgo,pgo/lm_l2,299.42857142857144,7082.809523809524,0.14853058558573679,26.426876688760423,23.637146327930015,20.166978036672447,29.015957729770015,53.86509961272521,45.126158868788394,0.5014202544637327,0.5288714586540674,0.5465504945939729,0.5849809771548902,,,16.794772285679322,16.03634353146014,19.192823835530035,38.297697814242134,0.16071431888651436,0.15029328399545233,0.17550972026747913,0.3213802330618936,0.30401656314699793,0.37709253095767464,1.0,12.746031746031745,,,,,,,126
bench_symmetry,rotation,rot/chordal_l2,299.42857142857144,7082.809523809524,0.14853058558573679,0.1993163445639232,40.86315224929255,20.94984935585936,54.463759277898454,89.53890662932127,82.53626801638093,0.6256035108209022,0.6396148537452885,0.6485403726708074,0.6656280193236714,3.431812004701503,3.1270989522901522,,,,,,,,,,,,,,,,,,,126
bench_symmetry,rotation,rot/chordal_l2+irls_cauchy,299.42857142857144,7082.809523809524,0.14853058558573679,0.6162993661941044,40.13097619364011,22.282830422014563,54.95888424573818,88.77799221197141,85.73391435150988,0.7153248924988056,0.7162251597034206,0.7162251597034206,0.7162251597034206,0.16401126898148877,0.9644265864525347,,,,,,,,,,,,,,,,,,,126
bench_symmetry,rotation,rot/l1_irls,299.42857142857144,7082.809523809524,0.14853058558573679,2.139577931827969,20.05595499900263,5.923323200215846,28.731405922342912,44.64777330367687,42.34498929141682,0.8569121940861071,0.8674950009732619,0.8674950009732619,0.8674950009732619,0.13806461883562426,35.21004819677971,,,,,,,,,,,,,,,,,,,126
bench_symmetry,rotation,rot/l1_irls_info,299.42857142857144,7082.809523809524,0.14853058558573679,2.1585016893962075,16.392824705421436,5.149493031281425,23.566192716730242,38.07324576071952,33.78115795865495,0.8838946399815966,0.8888681849551415,0.8907200368069934,0.8907200368069934,0.11789586866594293,41.7443679545944,,,,,,,,,,,,,,,,,,,126
bench_symmetry,rotation,rot/spanning_tree,299.42857142857144,7082.809523809524,0.14853058558573679,0.039310847009931295,0.7615254866034404,0.2708935594730168,1.1533373074029512,3.0057583459417856,1.2318040726506057,0.9478455521933783,0.9954876041832563,0.9954876041832563,0.9954876041832563,0.1868239566008494,74.54560766440795,,,,,,,,,,,,,,,,,,,126
bench_symmetry,translation,trans/linear_cross@gt_rot,299.42857142857144,7082.809523809524,0.14853058558573679,0.2703223606896779,,,,,,,,,,,,5283.86818398539,11.245491089494946,65571.97375713263,897455.0914822349,23.01037606821191,0.14284643792904253,284.46194152838336,3893.2530905320064,0.20727457591127452,0.36653522682999473,65379.84073014446,,,,,,,,126
bench_symmetry,translation,trans/linear_cross@l1_irls,299.42857142857144,7082.809523809524,0.14853058558573679,0.275102074184115,,,,,,,,,,,,1983.0621351640223,11.283622308339572,24554.17339063253,337904.6661289905,8.702339731635453,0.14237270419174536,106.64911618529615,1467.5988253754313,0.20724784945123928,0.364973318528956,24492.387683459056,,,,,,,,126
bench_symmetry,translation,trans/lud@gt_rot,299.42857142857144,7082.809523809524,0.14853058558573679,21.30610978414142,,,,,,,,,,,,4.8410415016377675,4.2101682787056545,6.0965523501550205,22.19850570418928,0.06859376730476392,0.06211148779743881,0.07899409520465109,0.21797514349962585,0.35342692543134696,0.5637065170152863,37.278688483931965,,,,,,,,126
bench_symmetry,translation,trans/lud@l1_irls,299.42857142857144,7082.809523809524,0.14853058558573679,22.918903627092877,,,,,,,,,,,,6.385946408189553,4.8791218033424,8.28143256851094,26.643866448384433,0.09852114424511348,0.07862998505645832,0.12035026359051577,0.292999215074352,0.35444867340961667,0.5836465226958962,36.3693213894427,,,,,,,,126
bench_topology,outlier,out/cycle_consistency,299.8285714285714,5774.771428571428,0.10065164908489135,11.643634939193726,,,,,,,,,,,,,,,,,,,,,,,,0.9975215669025956,0.997996096014751,0.9977528335584159,346.95714285714286,346.7857142857143,0.9958747173457538,70
bench_topology,outlier,out/dir_residual@lud,299.8285714285714,5774.771428571428,0.10065164908489135,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.849811995305379,0.9972861004668309,0.9080275413235295,547.8285714285714,467.1714285714286,0.9421149422932013,70
bench_topology,outlier,out/rot_residual@l1_irls,299.8285714285714,5774.771428571428,0.10065164908489135,0.02761880329677037,,,,,,,,,,,,,,,,,,,,,,,,0.9998587860163279,0.9990170807317302,0.9994364687013647,346.6,346.7857142857143,0.9996433366522236,70
bench_topology,pgo,pgo/chain_init,299.8285714285714,5774.771428571428,0.10065164908489135,0.026959490776062012,43.70459108222031,32.86863100127911,69.23027121810667,166.8886112991568,107.25451718946067,0.6370597990128192,0.6430363106940288,0.6448461540944763,0.6454652017135238,,,24.66798744959616,10.454159016205685,39.2914328606492,124.27927314431213,0.11684735932416587,0.06288972724403522,0.1787052649162903,0.5780988311113224,0.23090293797676345,0.5566746402988013,1.0,0.0,,,,,,,70
bench_topology,pgo,pgo/lm_cauchy,299.8285714285714,5774.771428571428,0.10065164908489135,25.25893577166966,43.49816289968285,32.6894496480958,69.17936338230702,166.79255847226477,107.09230409714732,0.6441315487892669,0.6459890112373334,0.6459890112373334,0.646608058856381,,,22.314892130301452,7.707581567649654,38.539618602753954,124.17261378471859,0.10587588521859784,0.05020237868219902,0.174375561311477,0.5801222605447607,0.54060454012803,0.6158398817190763,1.0,30.0,,,,,,,70
bench_topology,pgo,pgo/lm_cauchy@rotavg_init,299.8285714285714,5774.771428571428,0.10065164908489135,23.860583581243244,0.07284109272932235,0.02672744092523883,0.6641219831981211,9.986491177285819,0.05466105965921727,0.9995696692072532,0.9997128459410338,0.9997128459410338,0.9997128459410338,,,0.20756428362044735,0.18797798214118755,0.2486712332002083,0.8012803603190696,0.0011006420013386267,0.0009639667253775459,0.0018313144524109556,0.014830158420432052,0.9982829961487679,0.9998560226748145,1.0,30.0,,,,,,,70
bench_topology,pgo,pgo/lm_huber,299.8285714285714,5774.771428571428,0.10065164908489135,18.35247265951974,0.13506467724210747,0.02642897430993339,1.15023306244289,15.282752290255154,0.0634584274854207,0.9970428219555737,0.9986148897088494,0.9987106088045686,0.9989020437678156,,,0.39489335748111254,0.36905104649949877,0.4973982166297166,1.6929189058169183,0.002047705124907141,0.0018730796781834147,0.002802472535769788,0.0151997586413017,0.9966594645722162,0.998618247027643,1.0,23.6,,,,,,,70
bench_topology,pgo,pgo/lm_l2,299.8285714285714,5774.771428571428,0.10065164908489135,16.82798035144806,20.087921488726042,16.48310573691753,26.09346734288672,96.06091080521887,39.195523841850274,0.016443479215291296,0.18736540541238528,0.3544275384074042,0.5627559293800904,,,11.35649450059913,9.913459838590727,13.256754526543967,33.42818927666638,0.06797518672884925,0.061544767216184786,0.07626823267114341,0.16728021441480373,0.012913242362906793,0.5674822659319304,1.0,17.12857142857143,,,,,,,70
bench_topology,rotation,rot/chordal_l2,299.8285714285714,5774.771428571428,0.10065164908489135,0.1077094418661935,3.3542771024264617,2.712005691567922,4.993810276915119,35.74981728172174,5.847829989197011,0.16719325889124548,0.6865879924202072,0.8413366164037305,0.9509099076414512,2.1661840704250777,80.85443786237998,,,,,,,,,,,,,,,,,,,70
bench_topology,rotation,rot/chordal_l2+irls_cauchy,299.8285714285714,5774.771428571428,0.10065164908489135,0.3373431410108294,0.14489217051717188,0.07830921335461866,0.8946808568280005,12.345383717792973,0.15776513179825105,0.9990928395492154,0.9996179274367194,0.9996179274367194,0.9996179274367194,0.13210310757655427,85.02789521811299,,,,,,,,,,,,,,,,,,,70
bench_topology,rotation,rot/l1_irls,299.8285714285714,5774.771428571428,0.10065164908489135,1.2729932410376412,0.13092307986065163,0.07831847214447246,0.7214978977015537,10.14957966117542,0.15777571275283941,0.9991877580535298,0.9997128459410338,0.9997128459410338,0.9997128459410338,0.13210519427993067,85.02508947188585,,,,,,,,,,,,,,,,,,,70
bench_topology,rotation,rot/l1_irls_info,299.8285714285714,5774.771428571428,0.10065164908489135,1.566164207458496,3.8203129110245504,0.040641791060221706,10.884684911444996,75.52155013856748,11.144406585021263,0.9689055528115932,0.9690011104977547,0.9690011104977547,0.9690011104977547,0.11487127067125201,85.39988691836894,,,,,,,,,,,,,,,,,,,70
bench_topology,rotation,rot/spanning_tree,299.8285714285714,5774.771428571428,0.10065164908489135,0.026142161233084542,43.70459108222031,32.86863100127911,69.23027121810667,166.8886112991568,107.25451718946067,0.6370597990128192,0.6430363106940288,0.6448461540944763,0.6454652017135238,0.24434409950883768,99.22828989506395,,,,,,,,,,,,,,,,,,,70
bench_topology,translation,trans/linear_cross@gt_rot,299.8285714285714,5774.771428571428,0.10065164908489135,0.1307164124080113,,,,,,,,,,,,2552.3243717838754,16.370283914288258,24447.8290606439,256221.3766162969,11.18828960522591,0.14470317140821232,106.81104708097259,1123.8347316621753,0.033381752972356994,0.23640369175939643,24346.9733528177,,,,,,,,70
bench_topology,translation,trans/linear_cross@l1_irls,299.8285714285714,5774.771428571428,0.10065164908489135,0.1397876535143171,,,,,,,,,,,,2749.090564575448,16.354262662621824,26463.37017061548,276208.47256040433,12.041646506382365,0.14464741834027625,115.55202243257415,1210.511795803054,0.03319127678188081,0.23664178699749172,26351.496745660508,,,,,,,,70
bench_topology,translation,trans/lud@gt_rot,299.8285714285714,5774.771428571428,0.10065164908489135,9.158855141912188,,,,,,,,,,,,3.1166902708320174,2.5559763677645564,3.9677797935864425,15.232125098425227,0.017526518057497775,0.013285411770754508,0.023597801110084755,0.10080833071414806,0.6923494161816309,0.892581975071908,62.81183267513618,,,,,,,,70
bench_topology,translation,trans/lud@l1_irls,299.8285714285714,5774.771428571428,0.10065164908489135,9.037004089355468,,,,,,,,,,,,3.1105442255034665,2.5633618825099336,3.953236384609765,14.480657542484234,0.01751730258284152,0.013338011394287511,0.023603723042220793,0.09971670851690097,0.6918725897517845,0.892248803148132,62.80969611530854,,,,,,,,70
bench_twoview,outlier,out/cycle_consistency,466.57142857142856,9291.063492063493,0.10292599039845063,11.504481141529386,,,,,,,,,,,,,,,,,,,,,,,,0.996723531636233,0.9681697069608616,0.9815892705694564,573.0,585.9047619047619,0.9931319853199133,63
bench_twoview,outlier,out/dir_residual@lud,466.57142857142856,9291.063492063493,0.10292599039845063,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.8515765782706157,0.9937062103955662,0.9069901996484008,881.0952380952381,764.1428571428571,0.9417773956900561,63
bench_twoview,outlier,out/rot_residual@l1_irls,466.57142857142856,9291.063492063493,0.10292599039845063,0.03079731123788016,,,,,,,,,,,,,,,,,,,,,,,,0.9995600140181747,0.9932060312865084,0.9963389453022424,583.8253968253969,585.9047619047619,0.9995395568676728,63
bench_twoview,pgo,pgo/chain_init,466.57142857142856,9291.063492063493,0.10292599039845063,0.01619756410992335,39.51085062452534,28.810155204798644,60.508761862397755,142.59141618617684,87.58359672879843,0.653330764569803,0.6666871147393254,0.6678088555277328,0.6678247444325106,,,32.89317956203973,22.014880943905602,45.5829561759522,136.91338800358875,0.10646911304277397,0.05740174169545745,0.1579565841742692,0.5010003977645261,0.2963981748518455,0.5980132078529162,1.0,0.0,,,,,,,63
bench_twoview,pgo,pgo/lm_cauchy,466.57142857142856,9291.063492063493,0.10292599039845063,24.400230861845472,37.442324223525596,23.726426900146425,59.51609408963459,142.6242051537404,85.71947656834054,0.6886368435819512,0.7020654467883322,0.702536393925946,0.7025522828307238,,,29.775891089868278,17.488475537196127,44.01772763907143,136.68189059718802,0.08938237173565289,0.04450274664809346,0.14232455134788569,0.4848192860528586,0.595752514991902,0.674240935536822,1.0,29.793650793650794,,,,,,,63
bench_twoview,pgo,pgo/lm_cauchy@rotavg_init,466.57142857142856,9291.063492063493,0.10292599039845063,28.478734954955087,0.29321173151645996,0.030363497334269976,0.8877532194336315,6.595082981915213,1.6764848659518488,0.9966392197371451,0.9974336219215446,0.9974865319744547,0.9974865319744547,,,0.35626362004542045,0.22665820180679522,0.6251879751132438,2.527251302209015,0.002131270406182469,0.0010427216483304507,0.004725443711146725,0.026767158031482018,0.9962166907046134,0.9976400029057034,1.0,29.857142857142858,,,,,,,63
bench_twoview,pgo,pgo/lm_huber,466.57142857142856,9291.063492063493,0.10292599039845063,18.60876294923207,0.33624622092342743,0.0316732371915874,1.4812238202358485,17.575606168209053,1.6726911369848487,0.9959090270504306,0.9965232150980943,0.9968724214473007,0.9969784185098195,,,0.5826744427493721,0.46974817761591126,0.8479896968013497,2.51181310701577,0.002925629619128962,0.0019126303939217342,0.004983230405619059,0.018461002863522955,0.9941367470884379,0.9977619047619047,1.0,22.53968253968254,,,,,,,63
bench_twoview,pgo,pgo/lm_l2,466.57142857142856,9291.063492063493,0.10292599039845063,16.66768723442441,17.376537751928335,13.095783074186803,22.727135832364187,79.54833806808884,36.70764175074787,0.04404637344250871,0.2775516575545426,0.4515752264299891,0.6566875791661305,,,16.886157728163536,13.532699539355042,20.245808359659623,52.77145298195779,0.0646774781466563,0.0586449162626385,0.0736733061072333,0.1619420305815821,0.024069660944057082,0.6242304277603669,1.0,14.396825396825397,,,,,,,63
bench_twoview,rotation,rot/chordal_l2,466.57142857142856,9291.063492063493,0.10292599039845063,0.12055270634000263,3.472334123442824,2.856976872426925,4.793301191910794,32.286180312722436,6.325586954771234,0.16837922096625008,0.676015548145644,0.8536964172708802,0.9471546995119164,2.271636380914844,79.0621341591288,,,,,,,,,,,,,,,,,,,63
bench_twoview,rotation,rot/chordal_l2+irls_cauchy,466.57142857142856,9291.063492063493,0.10292599039845063,0.3625419442615812,0.13817349240396593,0.08025198532642695,0.7994363388267057,14.53929945838176,0.2005627030372035,0.9928551706779467,0.9997457435351581,0.9997457435351581,0.9997457435351581,0.12036686600361822,83.0359606935444,,,,,,,,,,,,,,,,,,,63
bench_twoview,rotation,rot/l1_irls,466.57142857142856,9291.063492063493,0.10292599039845063,1.2149328050159274,0.35179815280785875,0.08031354736277078,0.9464791748222041,6.763187622694931,1.7876273435040755,0.9905959591172432,0.9974865319744547,0.9974865319744547,0.9974865319744547,0.12037418479352156,82.77006318698925,,,,,,,,,,,,,,,,,,,63
bench_twoview,rotation,rot/l1_irls_info,466.57142857142856,9291.063492063493,0.10292599039845063,1.1692079892234197,1.5533808711135386,0.037549284744551215,4.672274476883153,38.00616842430068,3.9494675246582975,0.9875750716800158,0.98850120634045,0.9885541163933601,0.9885541163933601,0.08806897287633537,82.91140454002674,,,,,,,,,,,,,,,,,,,63
bench_twoview,rotation,rot/spanning_tree,466.57142857142856,9291.063492063493,0.10292599039845063,0.017518035949222625,39.51085062452534,28.810155204798644,60.508761862397755,142.59141618617684,87.58359672879843,0.653330764569803,0.6666871147393254,0.6678088555277328,0.6678247444325106,0.18051039443977712,95.75402059011202,,,,,,,,,,,,,,,,,,,63
bench_twoview,translation,trans/linear_cross@gt_rot,466.57142857142856,9291.063492063493,0.10292599039845063,0.13720713342939103,,,,,,,,,,,,1657.5497429200834,18.484055978045173,32336.504982361857,796298.5417667277,3.6147616112868834,0.13986993519904573,65.72140197679845,1583.69953980652,0.03671451036954024,0.24386946672611723,32334.783852587076,,,,,,,,63
bench_twoview,translation,trans/linear_cross@l1_irls,466.57142857142856,9291.063492063493,0.10292599039845063,0.13353851863316127,,,,,,,,,,,,1712.9365129840749,18.583972303638873,33480.25076917324,824613.4225049142,3.718747811649229,0.140722951030748,67.97832218573669,1639.8030922535002,0.03671980137483124,0.2442133025618257,33477.0326218492,,,,,,,,63
bench_twoview,translation,trans/lud@gt_rot,466.57142857142856,9291.063492063493,0.10292599039845063,9.601810080664498,,,,,,,,,,,,2.895071337919377,2.272979976285306,4.016438583476653,21.446664272122437,0.01631024944455432,0.012637230120680791,0.023418052984606173,0.1146754626091996,0.7564534061618086,0.9080418459087778,79.24409976321195,,,,,,,,63
bench_twoview,translation,trans/lud@l1_irls,466.57142857142856,9291.063492063493,0.10292599039845063,9.185463916687738,,,,,,,,,,,,2.990451775127868,2.2754763921145775,4.260666796947798,22.685499439703737,0.017051763744285815,0.012637189627966883,0.025420281347565517,0.12619147057496644,0.7565961997490466,0.9082272080825031,79.30109329249872,,,,,,,,63
bench_twoview_symmetry,outlier,out/cycle_consistency,299.2857142857143,7291.892857142857,0.1832187139792408,14.821925290993281,,,,,,,,,,,,,,,,,,,,,,,,0.9902760375074876,0.25042512703007674,0.3316604587493291,78.28571428571429,1037.75,0.866187695445317,28
bench_twoview_symmetry,outlier,out/dir_residual@lud,299.2857142857143,7291.892857142857,0.1832187139792408,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.39639321256336013,0.8724491656487707,0.5177200319142005,3300.5714285714284,1203.107142857143,0.5822441025661197,28
bench_twoview_symmetry,outlier,out/rot_residual@l1_irls,299.2857142857143,7291.892857142857,0.1832187139792408,0.03420397213527134,,,,,,,,,,,,,,,,,,,,,,,,0.9054052517109493,0.8804684021391148,0.8913926969082484,950.1071428571429,1037.75,0.9292194431482254,28
bench_twoview_symmetry,pgo,pgo/chain_init,299.2857142857143,7291.892857142857,0.1832187139792408,0.013131167207445418,0.5656946020458659,0.3039403818323,1.0653186919108566,6.962801701152334,1.2429509689997669,0.9316632850051217,0.9750840490636409,0.9828183686602054,0.9928615751319833,,,1.0417699033953218,0.7809161594607973,1.5333079163308885,6.457224784193644,0.009364573861832131,0.0070447993623681876,0.0137684530350656,0.05909662651787958,0.6985316365928611,0.988746815328448,1.0,0.0,,,,,,,28
bench_twoview_symmetry,pgo,pgo/lm_cauchy,299.2857142857143,7291.892857142857,0.1832187139792408,26.297937614577158,0.06255085365159677,0.024814364557426884,0.361583147790015,5.248700076638731,0.06307516366226813,0.9974587962598166,0.9983042444777138,0.9984249008483702,0.9992744201927876,,,0.2287960002646055,0.1896028336125895,0.4860803787533968,4.145270513883849,0.0015592251476220528,0.0012357497447184034,0.00391874683610322,0.03878277920230736,0.9980621109447639,0.9989099887059071,1.0,29.821428571428573,,,,,,,28
bench_twoview_symmetry,pgo,pgo/lm_cauchy@rotavg_init,299.2857142857143,7291.892857142857,0.1832187139792408,35.29930663960321,9.395059780158135,0.03834102413926111,13.569429782262757,20.947037560116094,19.374614516294486,0.9462812557455414,0.9473680167047513,0.9473680167047513,0.9479745817245817,,,12.26774310287466,10.567323527657381,14.663477917411457,28.274657547916444,0.08351541630436954,0.06679924867969206,0.09781363590707967,0.18578728219222523,0.6478425984293331,0.6593958645234156,1.0,29.785714285714285,,,,,,,28
bench_twoview_symmetry,pgo,pgo/lm_huber,299.2857142857143,7291.892857142857,0.1832187139792408,22.595914951392583,0.792299907478545,0.7435762009339346,1.1098961273246677,5.071249800336394,1.2213630954512777,0.8022231305649673,0.9673551138602159,0.9678369513828697,0.9863014472198145,,,15.300429276582634,15.22531959432487,17.402170235571614,32.41481981757649,0.1507166974862312,0.15329747345761463,0.15895654956757838,0.24150168501046657,0.27822988075539096,0.30724332203924043,1.0,29.892857142857142,,,,,,,28
bench_twoview_symmetry,pgo,pgo/lm_l2,299.2857142857143,7291.892857142857,0.1832187139792408,6.828242106097085,10.56477528407782,10.12223619231782,12.433171010569785,32.597463425661466,17.830785011377365,0.39101121529692956,0.4552844535497597,0.4953086833188874,0.6073591521550705,,,19.59772971943328,18.854507392877952,22.25756819340811,41.36180709739752,0.1886387013454093,0.18403248005683884,0.20073996634702018,0.3220470429671169,0.16906574212696662,0.27027828119664854,1.0,9.214285714285714,,,,,,,28
bench_twoview_symmetry,rotation,rot/chordal_l2,299.2857142857143,7291.892857142857,0.1832187139792408,0.08108099869319371,50.00814095140645,29.02736883846605,65.90519813848672,108.85462081882312,100.3522835106686,0.4048890618023271,0.510763007905865,0.5550859204685735,0.5941626283718121,4.2604854140449415,6.674600432867254,,,,,,,,,,,,,,,,,,,28
bench_twoview_symmetry,rotation,rot/chordal_l2+irls_cauchy,299.2857142857143,7291.892857142857,0.1832187139792408,0.41612848213740755,49.774727413189524,29.11628335683527,66.3654485015485,104.50964813666812,102.9149843593099,0.6429406337824705,0.6491561605337115,0.649277637696005,0.6496412483912485,0.22387361219627325,4.729166340793307,,,,,,,,,,,,,,,,,,,28
bench_twoview_symmetry,rotation,rot/l1_irls,299.2857142857143,7291.892857142857,0.1832187139792408,0.9402347803115845,9.48161427871338,0.1530946689093935,13.641664085537695,21.093304848388225,19.53388412599715,0.9431787290205657,0.947489493867045,0.9476109710293384,0.9479745817245817,0.1577392197151884,62.05094059124273,,,,,,,,,,,,,,,,,,,28
bench_twoview_symmetry,rotation,rot/l1_irls_info,299.2857142857143,7291.892857142857,0.1832187139792408,0.7873254248074123,0.1373815243452707,0.043965467567123766,0.9541813881967016,12.36679944967725,0.1160602691052031,0.9962578139363855,0.9978288747931605,0.9980710083261103,0.99855527539201,0.12156664117246344,81.28890548442173,,,,,,,,,,,,,,,,,,,28
bench_twoview_symmetry,rotation,rot/spanning_tree,299.2857142857143,7291.892857142857,0.1832187139792408,0.013114801474979945,0.5656946020458659,0.3039403818323,1.0653186919108566,6.962801701152334,1.2429509689997669,0.9316632850051217,0.9750840490636409,0.9828183686602054,0.9928615751319833,0.26456759144251546,81.42671219251044,,,,,,,,,,,,,,,,,,,28
bench_twoview_symmetry,translation,trans/linear_cross@gt_rot,299.2857142857143,7291.892857142857,0.1832187139792408,0.09483404670442853,,,,,,,,,,,,13253.038160657063,15.155604938366091,156685.3973061874,1917895.5266103582,58.561554129960015,0.17883054272471663,691.2720607726642,8460.822952542569,0.032098009087805,0.1723575105717963,156138.35430647177,,,,,,,,28
bench_twoview_symmetry,translation,trans/linear_cross@l1_irls,299.2857142857143,7291.892857142857,0.1832187139792408,0.09476882219314575,,,,,,,,,,,,11462.94493466252,14.565781109026181,137079.83358753737,1679118.069118708,50.71266823016383,0.17644427052175987,605.2590313925401,7413.292857006433,0.0376932471830431,0.1811629960864655,136612.9547322086,,,,,,,,28
bench_twoview_symmetry,translation,trans/lud@gt_rot,299.2857142857143,7291.892857142857,0.1832187139792408,6.60215391431536,,,,,,,,,,,,5.696201831415299,5.0326807451578945,7.08511914184798,23.896172695203205,0.07885640041712258,0.07332703211568296,0.0907652001459587,0.2450909483672094,0.2205544283350406,0.4565201389436083,35.955753837761115,,,,,,,,28
bench_twoview_symmetry,translation,trans/lud@l1_irls,299.2857142857143,7291.892857142857,0.1832187139792408,6.927116692066193,,,,,,,,,,,,6.736636699556641,5.397281964056404,8.570584797179865,27.0364983137265,0.08973401250337663,0.0771624373283992,0.10626673573586719,0.2776998647052346,0.22090510335408295,0.46104394846741786,35.09519784869815,,,,,,,,28
test_wild,outlier,out/cycle_consistency,241.721,4301.49,0.24844970944339548,4.452492681264878,,,,,,,,,,,,,,,,,,,,,,,,0.9427486405679136,0.7557271512884152,0.7844517971067219,347.562,580.2205,0.8825613411625901,2000
test_wild,outlier,out/dir_residual@lud,241.721,4301.49,0.24844970944339548,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.712169534732497,0.9136929189734309,0.7874853713267844,1262.008,886.903,0.8117139178180289,2000
test_wild,outlier,out/rot_residual@l1_irls,241.721,4301.49,0.24844970944339548,0.014431580185890198,,,,,,,,,,,,,,,,,,,,,,,,0.8954078708628043,0.832358719853452,0.8513434771872258,473.9175,580.2205,0.8968527033034226,2000
test_wild,pgo,pgo/chain_init,241.721,4301.49,0.24844970944339548,0.011044271230697632,37.220817911616045,31.884841184335695,52.97195740082552,109.85426677990549,79.62354410533891,0.6504856553488828,0.6896077109967829,0.6930767228999852,0.6957470765812813,,,18.361654858127704,12.677742861247003,24.91159455205944,69.70690611006164,0.11178749642846743,0.0762475224038694,0.1532282077974757,0.4333861861040861,0.2770834096656837,0.5414678576676047,1.0,0.0,,,,,,,2000
test_wild,pgo,pgo/lm_cauchy,241.721,4301.49,0.24844970944339548,18.03483596730232,36.20237610383461,30.52348496626778,52.124023181857716,109.4265359686722,78.31123855239663,0.6975588074808423,0.7015779334296242,0.7023415112439878,0.7035842305712212,,,16.029135033681307,10.367987486480882,22.674027740856552,65.77407666042909,0.09664035272113494,0.062287355625267674,0.1383847338847068,0.40654864077160463,0.5186529551520628,0.6273177121859381,1.0,29.987,,,,,,,2000
test_wild,pgo,pgo/lm_cauchy@rotavg_init,241.721,4301.49,0.24844970944339548,17.548643241763116,14.95499679521819,7.533776508322351,21.99689361838537,47.106025587287824,32.14538972046487,0.8911429586117473,0.8948514214014603,0.895009823933167,0.8951894572444904,,,5.0427014932318475,3.9900343872468014,6.58821313727381,16.33495494334406,0.05787645330120235,0.037550178964034404,0.07656287177994311,0.17968532216200736,0.7915076866922793,0.827878364411199,1.0,29.95,,,,,,,2000
test_wild,pgo,pgo/lm_huber,241.721,4301.49,0.24844970944339548,15.963022589921952,16.086600925476947,9.15341530839771,24.19912318900991,60.74906641308063,34.832170473601394,0.8354551249268233,0.8538419484220262,0.8607704085381975,0.8685690783530265,,,6.521920122801189,5.378300938249494,8.334612176260514,20.263600683889706,0.0707418097933004,0.0551295185906156,0.08907015738123163,0.19809948429519336,0.6300470755728336,0.7718220307197181,1.0,27.909,,,,,,,2000
test_wild,pgo,pgo/lm_l2,241.721,4301.49,0.24844970944339548,11.381465487241744,30.47831062426435,26.101724574677572,37.686017884893275,93.3065400397846,58.849776060345434,0.24789871931499424,0.31989483172813854,0.37843227722580414,0.48346021270755296,,,18.11923693659835,16.977862494593726,20.580334507347334,43.08794515289302,0.13533967456527868,0.12704490603207794,0.14920495887831536,0.2829885759249672,0.06367752290296011,0.2923931337383354,1.0,17.031,,,,,,,2000
test_wild,rotation,rot/chordal_l2,241.721,4301.49,0.24844970944339548,0.07566596436500549,23.99016917479316,16.342586142207207,32.32457436573034,78.74240866095347,48.78470441338386,0.30797368014419757,0.4719836485746806,0.5752632265949115,0.7008612761652079,5.356185173845893,45.053151360702785,,,,,,,,,,,,,,,,,,,2000
test_wild,rotation,rot/chordal_l2+irls_cauchy,241.721,4301.49,0.24844970944339548,0.2554545149803162,18.524563982156863,9.93881150114191,27.425975454954354,60.702960622354176,40.29850167283079,0.8597349715660682,0.8693967729710645,0.8696302458666232,0.8697404574238183,0.18307552369755287,46.6883811368585,,,,,,,,,,,,,,,,,,,2000
test_wild,rotation,rot/l1_irls,241.721,4301.49,0.24844970944339548,0.6887135585546493,15.049839459238008,7.629325085753997,22.087528327185243,47.34884647827667,32.30354787943498,0.8845691426022855,0.8947953122957485,0.8951637754438609,0.8952744835567497,0.17557396907915102,51.13286722951418,,,,,,,,,,,,,,,,,,,2000
test_wild,rotation,rot/l1_irls_info,241.721,4301.49,0.24844970944339548,0.7375036309957504,17.668237127363867,8.877435005902269,29.939764375028986,91.5028087258035,39.45141092112037,0.8613189500340979,0.868479780838228,0.8692223461619512,0.8693778280453951,0.2178757712470566,55.3650574623223,,,,,,,,,,,,,,,,,,,2000
test_wild,rotation,rot/spanning_tree,241.721,4301.49,0.24844970944339548,0.010859636068344116,37.220817911616045,31.884841184335695,52.97195740082552,109.85426677990549,79.62354410533891,0.6504856553488828,0.6896077109967829,0.6930767228999852,0.6957470765812813,4.58380046132933,79.81003362236642,,,,,,,,,,,,,,,,,,,2000
test_wild,translation,trans/linear_cross@gt_rot,241.721,4301.49,0.24844970944339548,0.08983136129379272,,,,,,,,,,,,29181355756.00979,17.48879812654653,107702545845.33258,492331435566.7991,180923329.38467556,0.1688421574263085,664493590.9452572,2923356811.105606,0.038826047943033425,0.18861047893504124,103110995058.65439,,,,,,,,2000
test_wild,translation,trans/linear_cross@l1_irls,241.721,4301.49,0.24844970944339548,0.08880261147022248,,,,,,,,,,,,38291183535.321266,17.544538407690155,257188077237.8704,2467940048931.487,192372752.85459164,0.16942146699396177,1024918415.7256184,8034799815.022594,0.038660601444850104,0.18802054463154058,253122070149.94598,,,,,,,,2000
test_wild,translation,trans/lud@gt_rot,241.721,4301.49,0.24844970944339548,5.860932908535004,,,,,,,,,,,,5.624517559128639,4.650219790007723,7.1373738923005625,23.241245204155014,0.07066394289960824,0.06198229934597931,0.08447661543710598,0.21449676558748804,0.41484595251248496,0.6598658252181765,46.89822081506002,,,,,,,,2000
test_wild,translation,trans/lud@l1_irls,241.721,4301.49,0.24844970944339548,5.866324089407921,,,,,,,,,,,,6.107639433428968,4.7548611558876255,7.928249405391557,25.82200335984192,0.08003115231648311,0.06406979479732486,0.09936473654833296,0.2509920241586297,0.4158466111175962,0.6667430628081469,46.56452068690259,,,,,,,,2000
test_wild_large,outlier,out/cycle_consistency,1568.4244604316548,36051.38129496403,0.2294866387806891,33.841128975367376,,,,,,,,,,,,,,,,,,,,,,,,0.9150457774019602,0.7526324212760356,0.775258262588783,3206.2805755395684,4908.4604316546765,0.8773076374258613,139
test_wild_large,outlier,out/dir_residual@lud,1568.4244604316548,36051.38129496403,0.2294866387806891,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.6870580440779703,0.9174617487433011,0.7678600936369843,11261.669064748201,6840.517985611511,0.7832179879921337,139
test_wild_large,outlier,out/rot_residual@l1_irls,1568.4244604316548,36051.38129496403,0.2294866387806891,0.09787116119329878,,,,,,,,,,,,,,,,,,,,,,,,0.9151207996682444,0.8245162586528696,0.8492227064627307,3908.884892086331,4908.4604316546765,0.9017142316092313,139
test_wild_large,pgo,pgo/chain_init,1107.7083333333333,25389.930555555555,0.2282350853651245,0.04835118850072225,62.596126511004144,67.69706011871304,75.88216535441522,136.08008181176243,109.98383698408831,0.4417827369762553,0.4726263727377955,0.47922716071935323,0.48108185161142736,,,68.16533955987194,62.89575293860972,81.28179867734134,190.6271869516628,0.15679525908850914,0.13621473621408076,0.18852839493940785,0.5021554591721883,0.13024388889068889,0.32941980272134014,1.0,0.0,,,,,,,72
test_wild_large,pgo,pgo/lm_cauchy,1107.7083333333333,25389.930555555555,0.2282350853651245,238.64578082826404,59.69972120555714,61.80024194842536,74.32195655602328,136.07977863527583,107.35887166258895,0.5145465656456741,0.5182122350397993,0.5182643734856729,0.5203008797627526,,,63.87371061546393,58.232802523328246,77.24673228511529,184.18465258376003,0.13791138879971832,0.11890957454742423,0.1717586060110664,0.47246395275501624,0.3602629838092826,0.45348935750923897,1.0,30.0,,,,,,,72
test_wild_large,pgo,pgo/lm_cauchy@rotavg_init,1107.7083333333333,25389.930555555555,0.2282350853651245,226.10179044802985,15.65308849435522,7.558215947479537,22.294179968727317,53.05670123232523,33.68782296823259,0.8885699569794235,0.8897167929040207,0.8897912382560289,0.8898013172755418,,,6.955121698848306,5.643508554067005,8.722002100695633,22.43732434458401,0.047493246851622914,0.03465777436146792,0.05761586639201942,0.14503549497285306,0.8228356092203722,0.8342828201669993,1.0,29.97222222222222,,,,,,,72
test_wild_large,pgo,pgo/lm_huber,1107.7083333333333,25389.930555555555,0.2282350853651245,187.91486331489352,15.470799142199345,11.86809907301113,21.96438567387116,67.4093182730633,31.553384115852754,0.8146957307803959,0.8457892939291931,0.851631921330038,0.8627670923442078,,,15.214305915686303,11.983114608601241,18.854284576268043,46.25874564802108,0.05163798233112,0.0453027295545377,0.05936227787613936,0.14404945046230558,0.6774439377432003,0.7982481156295029,1.0,28.083333333333332,,,,,,,72
test_wild_large,pgo,pgo/lm_l2,1107.7083333333333,25389.930555555555,0.2282350853651245,167.89188420110278,46.538865618748574,41.644546488292804,55.333978349282496,124.88348166654343,86.50143633182824,0.18237575772592673,0.23726861589677256,0.28229090227676285,0.3690855193478642,,,59.23988258677676,54.7880235743312,68.48001807193835,146.05172529515514,0.1510748706279467,0.14286342777990807,0.16447729061876518,0.3145942688589526,0.06269742468166886,0.2347077583317906,1.0,22.97222222222222,,,,,,,72
test_wild_large,rotation,rot/chordal_l2,1568.4244604316548,36051.38129496403,0.2294866387806891,3.9182287977753782,31.500998266763396,23.151832760597074,40.228219238738475,100.82594660646787,60.310155844970566,0.2599416217019673,0.41677250046826164,0.4989010426201852,0.6107814108779467,4.4534461629945294,49.91041889360868,,,,,,,,,,,,,,,,,,,139
test_wild_large,rotation,rot/chordal_l2+irls_cauchy,1568.4244604316548,36051.38129496403,0.2294866387806891,8.565019693306024,22.10669751475015,11.26259424955423,31.274787247437114,79.5074901915097,45.12883940817237,0.8116874283637163,0.8447206345101429,0.8470087055450122,0.8470245563256532,0.1246691272914922,50.65309703321689,,,,,,,,,,,,,,,,,,,139
test_wild_large,rotation,rot/l1_irls,1568.4244604316548,36051.38129496403,0.2294866387806891,13.98527382260604,18.528679591050448,8.760326374353768,26.37653450553021,62.27129873649783,39.19524498037607,0.8399210727835238,0.8719089545018243,0.8742941045818099,0.8743047345753652,0.11921565554996641,53.25003201119401,,,,,,,,,,,,,,,,,,,139
test_wild_large,rotation,rot/l1_irls_info,1568.4244604316548,36051.38129496403,0.2294866387806891,14.466838596536101,20.17638870004947,12.21208244802098,31.61711500876936,116.42973871396606,42.68757370701237,0.8198018508633117,0.8388355676619906,0.841455447829843,0.8469093855315496,0.11000655437136823,64.30470049947301,,,,,,,,,,,,,,,,,,,139
test_wild_large,rotation,rot/spanning_tree,1568.4244604316548,36051.38129496403,0.2294866387806891,0.07146944931085161,60.78108878870386,64.52132991695403,74.00696428857476,132.88331439329588,105.89004495198931,0.44276194429264887,0.48422322495788644,0.49387178893417,0.5016131823165376,9.388846528126798,89.46358013168843,,,,,,,,,,,,,,,,,,,139
test_wild_large,translation,trans/linear_cross@gt_rot,1568.4244604316548,36051.38129496403,0.2294866387806891,4.025381939016658,,,,,,,,,,,,124705278047.55742,44.72827171136409,1597311852381.1233,36134020398413.266,221315377.7590391,0.15535967394796998,2631975949.1336436,55116968621.17627,0.04364803044656634,0.1961846007565217,1591515964833.683,,,,,,,,139
test_wild_large,translation,trans/linear_cross@l1_irls,1568.4244604316548,36051.38129496403,0.2294866387806891,3.9070237094549825,,,,,,,,,,,,71332246638.29015,44.45584361866275,561351413395.0369,4915874470782.217,138431845.60500178,0.15470609553414696,1079574009.4996948,9150638335.789017,0.04400225992489744,0.19635987428225832,556683871957.256,,,,,,,,139
test_wild_large,translation,trans/lud@gt_rot,1568.4244604316548,36051.38129496403,0.2294866387806891,190.79341497352655,,,,,,,,,,,,9.267918025981729,7.849428397676773,12.433411460118782,58.891780318387205,0.05947762903939367,0.05649409807864122,0.06747271158815965,0.18693273633815946,0.5487538404300489,0.7216959981779146,166.83021764126227,,,,,,,,139
test_wild_large,translation,trans/lud@l1_irls,1568.4244604316548,36051.38129496403,0.2294866387806891,204.31958211411674,,,,,,,,,,,,10.42958570495234,8.268079480862045,14.715378513480722,69.60138631410095,0.06786102747286647,0.05926316344359818,0.08029805697019402,0.21852869205428752,0.5480060937673332,0.7183506531363433,165.74103478298002,,,,,,,,139