Datasets:
ezharjan
/
ViewGraphBench

Dataset card Data Studio Files
xet
 Community
1
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16 values
family
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scene
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7 values
n_nodes
int64
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100k
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int64
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float64
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140
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2 values
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float64
0.25
16
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int64
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80
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float64
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float64
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float64
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int64
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26.4k
scale_noise
float64
0.01
0.4
seed
int64
87.5k
4.29B
inlier_err_rot_deg_median
float64
0.01
2.6
inlier_err_dir_deg_median
float64
0.02
3.46
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float64
33
1.35k
npz_path
stringlengths
37
75
g2o_path
stringlengths
37
75
⌀
sha256_npz
stringlengths
64
64
g0005_crowd_plaza_n107_r0
test_wild
crowd
plaza
107
1,326
24.785047
analytic
2.36665
20
0.200528
0.202112
0
0
0.138789
1,322,726,897
0.24233
0.34568
113.5
splits/test_wild/g0005_crowd_plaza_n107_r0.npz
splits/test_wild/g0005_crowd_plaza_n107_r0.g2o
0604fe1277ce348fed329c17cf000b2f6952d238ecef2c92cd0adb182e2b5cd1
g0006_manhattan_urban_n233_r0
test_wild
manhattan
urban
226
1,019
9.017699
analytic
2.486968
5
0.079286
0.133464
0
0
0.031013
2,444,010,755
0.467562
0.836418
76
splits/test_wild/g0006_manhattan_urban_n233_r0.npz
splits/test_wild/g0006_manhattan_urban_n233_r0.g2o
e14921e073f23f384e82370b86df05d2770d8f5309e5d483c6b6e1b4e0707104
g0007_dome_object_n79_r0
test_wild
dome
object
79
1,790
45.316456
analytic
0.315381
20
0.111724
0.353073
0.59242
432
0.010566
3,520,730,320
0.034213
0.030953
185
splits/test_wild/g0007_dome_object_n79_r0.npz
splits/test_wild/g0007_dome_object_n79_r0.g2o
e1d71f55b25cbce9a9d24f034bb980ae4035c0969d09575aabc296aaf3d7a6ff
g0008_dome_object_n31_r0
test_wild
dome
object
31
165
10.645161
twoview
1.639259
5
0.366084
0.363636
0
0
0.056312
4,036,798,730
0.143981
0.102294
268
splits/test_wild/g0008_dome_object_n31_r0.npz
splits/test_wild/g0008_dome_object_n31_r0.g2o
fd30509023e25e34a850b4ac6ae6f94d573b4aab406cb1d18ffad315180cdba9
g0009_manhattan_urban_n87_r0
test_wild
manhattan
urban
85
649
15.270588
analytic
0.327146
20
0.377493
0.377504
0
0
0.141636
1,857,491,306
0.064737
0.091954
60
splits/test_wild/g0009_manhattan_urban_n87_r0.npz
splits/test_wild/g0009_manhattan_urban_n87_r0.g2o
373c21fed8749a6820539a359ad26189a76638a38dad36b022a3ba80bea8fd7b
g0010_orbit_object_n85_r0
test_wild
orbit
object
85
1,458
34.305882
analytic
1.444663
40
0.238038
0.237997
0
0
0.025278
3,005,839,483
0.108939
0.14401
311.5
splits/test_wild/g0010_orbit_object_n85_r0.npz
splits/test_wild/g0010_orbit_object_n85_r0.g2o
03ff658de206e05507fbc3371e2f380038d072313c69040c5b71c2fd66e619a8
g0011_orbit_object_n169_r0
test_wild
orbit
object
169
3,338
39.502959
analytic
1.091322
20
0.395295
0.395147
0
0
0.102873
1,344,056,782
0.055789
0.105861
422
splits/test_wild/g0011_orbit_object_n169_r0.npz
splits/test_wild/g0011_orbit_object_n169_r0.g2o
5edc6dcba02f89e409b8626bac89ef07dd82cf6c47820050aad5e0eac60c36a4
g0012_crowd_plaza_n93_r0
test_wild
crowd
plaza
93
785
16.88172
analytic
0.47483
5
0.076588
0.384713
0.254862
242
0.099634
3,893,461,087
0.038684
0.062994
94
splits/test_wild/g0012_crowd_plaza_n93_r0.npz
splits/test_wild/g0012_crowd_plaza_n93_r0.g2o
6652e0bf8d87ee32cc3e9dee31dceb5d0aec9b1ba3718330e26eabc8007cf625
g0013_manhattan_urban_n68_r0
test_wild
manhattan
urban
68
394
11.588235
twoview
0.414315
10
0.1752
0.190355
0.464022
0
0.025061
3,260,490,732
0.057798
0.189957
60.5
splits/test_wild/g0013_manhattan_urban_n68_r0.npz
splits/test_wild/g0013_manhattan_urban_n68_r0.g2o
15aa8792d1e09729496557fff9ddf59448a38593817afb4e1177e3cc1c06a57a
g0014_orbit_object_n68_r0
test_wild
orbit
object
68
341
10.029412
analytic
1.015466
5
0.04952
0.049853
0
0
0.01328
303,156,355
0.035844
0.073146
720
splits/test_wild/g0014_orbit_object_n68_r0.npz
splits/test_wild/g0014_orbit_object_n68_r0.g2o
cda614f8ebe0a9ba8089f4f8f3012224243e81c3c0abc8a16b6bd84a15e5220a
g0015_dome_object_n40_r0
test_wild
dome
object
40
358
17.9
analytic
0.837258
10
0.203438
0.203911
0
0
0.107979
3,145,318,810
0.091357
0.079157
212
splits/test_wild/g0015_dome_object_n40_r0.npz
splits/test_wild/g0015_dome_object_n40_r0.g2o
b31e49830b763d4aae14851e730587ecc7008adc2b989c82c70e52a5edda0d7a
g0016_manhattan_urban_n47_r0
test_wild
manhattan
urban
47
223
9.489362
analytic
0.84164
10
0.024139
0.03139
0
0
0.029228
663,764,004
0.147379
0.294626
65
splits/test_wild/g0016_manhattan_urban_n47_r0.npz
splits/test_wild/g0016_manhattan_urban_n47_r0.g2o
cfb6297117a57d9133106d4aa09388177e69f660dc58de7c6140b4da0af65d6a
g0017_corridor_corridor_n115_r0
test_wild
corridor
corridor
115
1,153
20.052174
analytic
1.161766
40
0.024406
0.024284
0
0
0.035079
2,674,613,360
0.237296
0.262259
89
splits/test_wild/g0017_corridor_corridor_n115_r0.npz
splits/test_wild/g0017_corridor_corridor_n115_r0.g2o
14de67148583640fc080185913c0d5d99e7e2b97e4e919fc0b157e3dfef7ba50
g0018_orbit_object_n428_r0
test_wild
orbit
object
428
8,976
41.943925
analytic
0.802917
20
0.131597
0.131907
0
0
0.04979
511,185,457
0.02869
0.098768
913
splits/test_wild/g0018_orbit_object_n428_r0.npz
splits/test_wild/g0018_orbit_object_n428_r0.g2o
876ba549543db7abf82c9b4b990f5e532fde00fc4d9a9075244e3ea22a350da4
g0019_crowd_plaza_n82_r0
test_wild
crowd
plaza
82
789
19.243902
analytic
1.970039
10
0.099684
0.102662
0
0
0.119782
3,494,981,296
0.197808
0.254462
172
splits/test_wild/g0019_crowd_plaza_n82_r0.npz
splits/test_wild/g0019_crowd_plaza_n82_r0.g2o
b0a93d2e32c0fb309078cf573205a953de2a7f8c0c27b1435ece415d7a5940d7
g0020_dome_object_n198_r0
test_wild
dome
object
198
4,486
45.313131
analytic
0.963522
20
0.085419
0.085377
0
0
0.041646
1,190,970,443
0.084229
0.095983
261
splits/test_wild/g0020_dome_object_n198_r0.npz
splits/test_wild/g0020_dome_object_n198_r0.g2o
293c691430e2427d5e879818b5f995a215922b7a30fde36009b51364b08f5bd5
g0021_manhattan_urban_n47_r0
test_wild
manhattan
urban
47
187
7.957447
analytic
2.413348
5
0.063323
0.074866
0.336051
0
0.030729
4,246,596,314
0.348661
0.545664
84
splits/test_wild/g0021_manhattan_urban_n47_r0.npz
splits/test_wild/g0021_manhattan_urban_n47_r0.g2o
8449e417668b06fb4f6f6bcc6b537d74de5a686b7bc956de579701d3e49e7a63
g0022_manhattan_urban_n63_r0
test_wild
manhattan
urban
63
248
7.873016
analytic
0.577035
5
0.169083
0.169355
0
0
0.036527
3,397,834,277
0.105166
0.151591
97
splits/test_wild/g0022_manhattan_urban_n63_r0.npz
splits/test_wild/g0022_manhattan_urban_n63_r0.g2o
1038cf5aee79d038db606b2a1713b79e51dd0a6170d64b3a8f2f767a4a0bf63f
g0023_dome_object_n176_r0
test_wild
dome
object
176
1,115
12.670455
analytic
0.913868
5
0.057132
0.057399
0
0
0.01234
285,456,804
0.042086
0.071545
701
splits/test_wild/g0023_dome_object_n176_r0.npz
splits/test_wild/g0023_dome_object_n176_r0.g2o
b7453b7e5a9686cf63238bcf5ac3e7e9009d08a4ab82148ef52f618930c1f06f
g0024_manhattan_urban_n520_r0
test_wild
manhattan
urban
520
3,298
12.684615
analytic
1.295539
5
0.134138
0.153123
0.455746
5
0.023993
2,193,041,431
0.137799
0.345294
134.5
splits/test_wild/g0024_manhattan_urban_n520_r0.npz
splits/test_wild/g0024_manhattan_urban_n520_r0.g2o
4d6374019452421ab5a249b6f823ed6b62e0d17b86801676b30bda0ed7e97edb
g0025_crowd_plaza_n37_r0
test_wild
crowd
plaza
37
197
10.648649
analytic
0.650355
10
0.116795
0.116751
0
0
0.021754
1,717,426,578
0.078421
0.110152
124
splits/test_wild/g0025_crowd_plaza_n37_r0.npz
splits/test_wild/g0025_crowd_plaza_n37_r0.g2o
a0e775acc73d202a980d41bdf02b017fe28fd35ec4301db88a66218b4edc01ba
g0026_crowd_plaza_n72_r0
test_wild
crowd
plaza
72
713
19.805556
analytic
1.114394
40
0.362618
0.363254
0
0
0.010761
3,414,191,534
0.135292
0.159965
102
splits/test_wild/g0026_crowd_plaza_n72_r0.npz
splits/test_wild/g0026_crowd_plaza_n72_r0.g2o
0655c9e456163920625fa08dcfd53715753fc1b18ac26b6a317d9a79640563c1
g0027_manhattan_urban_n62_r0
test_wild
manhattan
urban
61
254
8.327869
analytic
2.700134
20
0.033208
0.090551
0.593651
0
0.027357
195,628,012
0.552665
1.128329
53
splits/test_wild/g0027_manhattan_urban_n62_r0.npz
splits/test_wild/g0027_manhattan_urban_n62_r0.g2o
01cb518173c51d47fc0a540363b03a409f2131fb7015e502a79ea868a5b964a1
g0028_walk_room_n251_r0
test_wild
walk
room
250
3,257
26.056
analytic
0.730842
10
0.319225
0.319312
0
0
0.066763
3,285,040,926
0.076817
0.135657
171
splits/test_wild/g0028_walk_room_n251_r0.npz
splits/test_wild/g0028_walk_room_n251_r0.g2o
24d7f752c5cb27f894fbcce5e03500be3e318c28326561f8685485f495a318ec
g0029_crowd_plaza_n110_r0
test_wild
crowd
plaza
110
1,851
33.654545
analytic
0.746532
20
0.165998
0.403025
0.445157
439
0.078174
1,491,201,382
0.071674
0.09945
90
splits/test_wild/g0029_crowd_plaza_n110_r0.npz
splits/test_wild/g0029_crowd_plaza_n110_r0.g2o
7eb1514c367526941c07fed4f849d552f5644c9e4b6d5a7d92d8f6bded29e306
g0030_orbit_object_n325_r0
test_wild
orbit
object
325
12,796
78.744615
analytic
0.706907
40
0.18366
0.183651
0
0
0.097187
1,237,293,045
0.035007
0.060135
537
splits/test_wild/g0030_orbit_object_n325_r0.npz
splits/test_wild/g0030_orbit_object_n325_r0.g2o
86faf05bccab8f7664df44961f3e3956c19165d423e11ad93dc5bc7a257ddd5c
g0031_corridor_corridor_n508_r0
test_wild
corridor
corridor
508
7,913
31.153543
analytic
1.729757
40
0.152401
0.687855
0.593524
4,237
0.01665
539,978,804
0.242583
0.340881
64
splits/test_wild/g0031_corridor_corridor_n508_r0.npz
splits/test_wild/g0031_corridor_corridor_n508_r0.g2o
c21bcf4ca44da34ea72facba4f98edeff8fe08b826bffa43dae8752bfe429065
g0032_walk_room_n101_r0
test_wild
walk
room
98
1,287
26.265306
analytic
0.975182
20
0.135965
0.135975
0
0
0.033018
2,604,969,394
0.146661
0.264295
92
splits/test_wild/g0032_walk_room_n101_r0.npz
splits/test_wild/g0032_walk_room_n101_r0.g2o
71bb2e41acd23f302be0de4868c502bb377a1b1a83990aa0fd886d6303bb105f
g0033_manhattan_urban_n340_r0
test_wild
manhattan
urban
338
4,072
24.094675
twoview
0.658109
20
0.002769
0.010069
0
0
0.014774
1,575,687,616
0.070731
0.132003
63
splits/test_wild/g0033_manhattan_urban_n340_r0.npz
splits/test_wild/g0033_manhattan_urban_n340_r0.g2o
5424d67fbe002ad8e409afe1a1bc510c4a7f78096d27576f35b1da9b9642e240
g0034_dome_object_n212_r0
test_wild
dome
object
212
2,430
22.924528
analytic
1.082565
5
0.016858
0.436214
0.563875
1,019
0.011162
3,999,059,599
0.041941
0.076187
580
splits/test_wild/g0034_dome_object_n212_r0.npz
splits/test_wild/g0034_dome_object_n212_r0.g2o
c3d7cee19dbb2f1660762a678f442a9df048233827aba630fac9ea5bd5bef77d
g0035_manhattan_urban_n41_r0
test_wild
manhattan
urban
41
156
7.609756
analytic
0.386352
40
0.387815
0.384615
0
0
0.029971
2,308,478,819
0.054474
0.177898
73
splits/test_wild/g0035_manhattan_urban_n41_r0.npz
splits/test_wild/g0035_manhattan_urban_n41_r0.g2o
579e18b4b8f1c99b175d288543184566f97e51529e354df9626c0c5f0e2e84fb
g0036_orbit_object_n522_r0
test_wild
orbit
object
522
6,667
25.544061
analytic
0.868871
5
0.018213
0.39148
0.354238
2,489
0.132223
1,273,035,631
0.019631
0.167005
1,147
splits/test_wild/g0036_orbit_object_n522_r0.npz
splits/test_wild/g0036_orbit_object_n522_r0.g2o
8cb74b90083c888bce2142364acbeec970e841c18541f880c8edff9a5fb00e52
g0037_dome_object_n573_r0
test_wild
dome
object
573
25,404
88.670157
analytic
0.490405
40
0.377727
0.377736
0
0
0.081752
3,907,817,021
0.023641
0.033837
588
splits/test_wild/g0037_dome_object_n573_r0.npz
splits/test_wild/g0037_dome_object_n573_r0.g2o
9ae5efd4d96547e143a299f0e99a1f23582d828d916f967ea919817cc0208576
g0038_dome_object_n52_r0
test_wild
dome
object
52
668
25.692308
analytic
0.510211
10
0.012218
0.281437
0.265516
180
0.10303
2,660,216,150
0.070297
0.062102
94.5
splits/test_wild/g0038_dome_object_n52_r0.npz
splits/test_wild/g0038_dome_object_n52_r0.g2o
d242681e321025c9e108abb9c206c9cf912d4d79f4826fae6ebc5562bed7c827
g0039_crowd_facade_n320_r0
test_wild
crowd
facade
315
5,865
37.238095
analytic
0.940224
10
0.099148
0.148338
0.255118
288
0.128963
1,182,800,658
0.046553
0.049792
257
splits/test_wild/g0039_crowd_facade_n320_r0.npz
splits/test_wild/g0039_crowd_facade_n320_r0.g2o
ee40c79ab8e3069c9e79ccca13aa58e9fd1d5da002fdfa2afe37db0bb1b6ee5b
g0040_orbit_object_n617_r0
test_wild
orbit
object
617
28,953
93.850891
analytic
0.318763
40
0.111898
0.212828
0.314693
2,922
0.040009
638,527,413
0.009547
0.024442
929
splits/test_wild/g0040_orbit_object_n617_r0.npz
splits/test_wild/g0040_orbit_object_n617_r0.g2o
c117dddadfc2d1b97987f89479ee85f8010d5263f8852ae82b9065dd8bc70095
g0041_manhattan_urban_n783_r0
test_wild
manhattan
urban
753
7,298
19.383798
analytic
1.174108
10
0.185466
0.192244
0.583882
0
0.016285
2,006,186,238
0.183119
0.276198
92
splits/test_wild/g0041_manhattan_urban_n783_r0.npz
splits/test_wild/g0041_manhattan_urban_n783_r0.g2o
e6969f4cd07caa75213515f53185f08ff2445f1f1b5485f3599f73260a37f6e4
g0042_lawnmower_terrain_n74_r0
test_wild
lawnmower
terrain
74
406
10.972973
analytic
1.200248
5
0.049533
0.049261
0
0
0.018941
3,467,668,221
0.155516
0.163959
180
splits/test_wild/g0042_lawnmower_terrain_n74_r0.npz
splits/test_wild/g0042_lawnmower_terrain_n74_r0.g2o
e962bee34b9aaa643a0a280419deedcdd8a2ef9966fc085dc92338d6795a2798
g0043_crowd_plaza_n425_r0
test_wild
crowd
plaza
425
5,067
23.844706
analytic
0.326561
10
0.238636
0.238603
0
0
0.02156
1,867,146,116
0.017581
0.040747
265
splits/test_wild/g0043_crowd_plaza_n425_r0.npz
splits/test_wild/g0043_crowd_plaza_n425_r0.g2o
445cfef0e2d7b6ddfcd928adf1d0b7b490a1ef065e4da4403eb6b9143802bdb0
g0044_crowd_plaza_n366_r0
test_wild
crowd
plaza
366
10,798
59.005464
analytic
1.193161
20
0.174084
0.325894
0.181242
1,639
0.121771
4,112,961,175
0.075923
0.117356
214
splits/test_wild/g0044_crowd_plaza_n366_r0.npz
splits/test_wild/g0044_crowd_plaza_n366_r0.g2o
bc8be62dc9a534061f8c57c476811b65c5be330131614f1099d218f9bacc66ed
g0045_crowd_plaza_n223_r0
test_wild
crowd
plaza
223
4,450
39.910314
twoview
0.619596
10
0.176923
0.503146
0.486041
1,452
0.100105
740,263,724
0.02804
0.040217
205
splits/test_wild/g0045_crowd_plaza_n223_r0.npz
splits/test_wild/g0045_crowd_plaza_n223_r0.g2o
068ef1a69c3b269e391d6eddfe71aaad4ad77d39c6bf9973adf9f47ba367db67
g0046_corridor_corridor_n102_r0
test_wild
corridor
corridor
102
498
9.764706
analytic
2.938693
5
0.310197
0.309237
0
0
0.015584
565,523,324
0.235885
0.449834
231
splits/test_wild/g0046_corridor_corridor_n102_r0.npz
splits/test_wild/g0046_corridor_corridor_n102_r0.g2o
d69f5e9a1baf71e72c88d75acc30886d2d471e756678ef15ce6f0f0b0d998581
g0047_orbit_object_n45_r0
test_wild
orbit
object
45
373
16.577778
twoview
0.877327
20
0.320369
0.319035
0
0
0.046523
57,416,681
0.090842
0.087544
213
splits/test_wild/g0047_orbit_object_n45_r0.npz
splits/test_wild/g0047_orbit_object_n45_r0.g2o
52a1970b1581d79de855b65fe31e719b5e5e4ead5bf97be43cbaa2eed67048e7
g0048_lawnmower_terrain_n506_r0
test_wild
lawnmower
terrain
506
16,858
66.632411
analytic
0.302342
40
0.129181
0.129197
0
0
0.010533
1,131,750,790
0.038993
0.037802
150
splits/test_wild/g0048_lawnmower_terrain_n506_r0.npz
splits/test_wild/g0048_lawnmower_terrain_n506_r0.g2o
8d8a6565bf4538c4aae8257cd79273fd4162ce9439c58b534af0c31e4e8bff7a
g0049_crowd_plaza_n42_r0
test_wild
crowd
plaza
42
389
18.52381
analytic
1.589308
10
0.113234
0.40874
0.328059
115
0.025623
4,043,763,707
0.142658
0.175617
89
splits/test_wild/g0049_crowd_plaza_n42_r0.npz
splits/test_wild/g0049_crowd_plaza_n42_r0.g2o
c29fd3aafdb252ae383b64d4de951521ab9c0830a079c90290f08fb4cb48b86e
g0050_crowd_facade_n340_r0
test_wild
crowd
facade
330
10,356
62.763636
analytic
0.302548
20
0.163598
0.313345
0.507199
1,551
0.126599
2,873,533,124
0.013633
0.015328
238
splits/test_wild/g0050_crowd_facade_n340_r0.npz
splits/test_wild/g0050_crowd_facade_n340_r0.g2o
434a4739b6c890fc42478962938d1c6bc120213e364db6b6c044a9ecbe5657c3
g0051_dome_object_n74_r0
test_wild
dome
object
74
1,142
30.864865
analytic
1.201363
20
0.333969
0.335377
0
0
0.016921
1,192,325,702
0.183743
0.177153
123
splits/test_wild/g0051_dome_object_n74_r0.npz
splits/test_wild/g0051_dome_object_n74_r0.g2o
598fb2e6c83e060d2f016f1825fb4d76035a42dbbbe823f29f28b5f1bf0d8b5b
g0052_walk_room_n427_r0
test_wild
walk
room
427
9,952
46.613583
analytic
1.917442
20
0.254802
0.255326
0
0
0.012529
1,394,833,022
0.263271
0.409267
120
splits/test_wild/g0052_walk_room_n427_r0.npz
splits/test_wild/g0052_walk_room_n427_r0.g2o
df9740885508efedd8ee55117398238b28522be133a9b5c09250b86c4cd56a6a
g0053_dome_object_n473_r0
test_wild
dome
object
473
2,935
12.410148
analytic
0.446046
5
0.098825
0.098807
0
0
0.137949
3,841,420,405
0.01256
0.042253
824
splits/test_wild/g0053_dome_object_n473_r0.npz
splits/test_wild/g0053_dome_object_n473_r0.g2o
23b1379e993cbeed6d83bb6b58146a4d4c59ca4406af86bedb4defcdc582e6cd
g0054_walk_room_n737_r0
test_wild
walk
room
737
33,994
92.249661
analytic
0.511018
40
0.077868
0.077867
0
0
0.115174
1,038,986,363
0.075941
0.098482
146
splits/test_wild/g0054_walk_room_n737_r0.npz
splits/test_wild/g0054_walk_room_n737_r0.g2o
eb37e38324e3f362753b26cf70c2906d70fa5c8f6e51e09aa3953e1a16a317f0
g0055_dome_object_n659_r0
test_wild
dome
object
659
15,784
47.902883
analytic
0.318877
20
0.31862
0.318614
0
0
0.034317
2,121,941,191
0.014174
0.026731
616
splits/test_wild/g0055_dome_object_n659_r0.npz
splits/test_wild/g0055_dome_object_n659_r0.g2o
bdfd76bd0668a8e8458f1976de28e848362d604f22575f9b7c5ac421d7b4492d
g0056_lawnmower_terrain_n565_r0
test_wild
lawnmower
terrain
565
19,335
68.442478
analytic
1.690554
40
0.196315
0.196431
0
0
0.078316
3,858,548,641
0.208537
0.20014
190
splits/test_wild/g0056_lawnmower_terrain_n565_r0.npz
splits/test_wild/g0056_lawnmower_terrain_n565_r0.g2o
93d332bf46eaefdd3994f1a8fe5c9fb425faef35cd7777e530c385a9ccb93da7
g0057_dome_object_n60_r0
test_wild
dome
object
60
357
11.9
analytic
0.832459
5
0.211336
0.210084
0
0
0.023736
3,382,748,930
0.057731
0.066221
436
splits/test_wild/g0057_dome_object_n60_r0.npz
splits/test_wild/g0057_dome_object_n60_r0.g2o
56966afb4b7e768ca4642988adf0cc8e66008e45881bc564510887f626924007
g0058_manhattan_urban_n416_r0
test_wild
manhattan
urban
414
5,718
27.623188
analytic
0.46229
20
0.346865
0.349598
0
0
0.042616
2,262,872
0.120637
0.152125
64
splits/test_wild/g0058_manhattan_urban_n416_r0.npz
splits/test_wild/g0058_manhattan_urban_n416_r0.g2o
ff501d2e64755ac614b1a3ac472a66c13bfec91aaff66c3b25bd53738151d830
g0059_crowd_plaza_n153_r0
test_wild
crowd
plaza
153
5,414
70.771242
analytic
0.411911
40
0.079123
0.533617
0.580026
2,461
0.039209
3,593,717,886
0.032501
0.045551
131
splits/test_wild/g0059_crowd_plaza_n153_r0.npz
splits/test_wild/g0059_crowd_plaza_n153_r0.g2o
82da0c5d18e52a22635b97598c339a4a6c2721f67e33e17e2ff9d326b95c37cc
g0060_dome_object_n337_r0
test_wild
dome
object
337
2,178
12.925816
analytic
0.780571
5
0.302116
0.302112
0
0
0.046042
2,082,126,598
0.031522
0.076759
696
splits/test_wild/g0060_dome_object_n337_r0.npz
splits/test_wild/g0060_dome_object_n337_r0.g2o
7308049596508be9020b4ea34ad99bf1d9e50daf500590196d5a2e7a85c9780d
g0061_dome_object_n59_r0
test_wild
dome
object
59
347
11.762712
analytic
0.36352
5
0.282531
0.282421
0
0
0.010032
620,503,660
0.02473
0.021619
433
splits/test_wild/g0061_dome_object_n59_r0.npz
splits/test_wild/g0061_dome_object_n59_r0.g2o
3871db074ca29ed2db93f76aa9d1377f8e35ef5b259693b189d4da17153a31eb
g0062_manhattan_urban_n227_r0
test_wild
manhattan
urban
225
2,212
19.662222
analytic
1.842649
40
0.187812
0.201175
0
0
0.011729
997,483,243
0.434861
0.533511
50
splits/test_wild/g0062_manhattan_urban_n227_r0.npz
splits/test_wild/g0062_manhattan_urban_n227_r0.g2o
fbf6fdb8e191fa995019c4df74165ac343aee6ccbd1048fc72ea1221cdeb24bc
g0063_crowd_facade_n350_r0
test_wild
crowd
facade
340
4,220
24.823529
analytic
0.857094
5
0.104293
0.367536
0.580433
1,111
0.115079
4,017,800,979
0.037208
0.043686
220
splits/test_wild/g0063_crowd_facade_n350_r0.npz
splits/test_wild/g0063_crowd_facade_n350_r0.g2o
c964658859579fa917eaecd0f94aeedf4fcec18dc078accbfe5ecb2881f6724f
g0064_corridor_corridor_n146_r0
test_wild
corridor
corridor
146
1,593
21.821918
analytic
1.058638
40
0.28147
0.282486
0
0
0.064537
1,882,660,934
0.180417
0.225033
125
splits/test_wild/g0064_corridor_corridor_n146_r0.npz
splits/test_wild/g0064_corridor_corridor_n146_r0.g2o
135208bf46a09cf085852b8bbe8f0485219ab0b9b1537ded9f06e868be6a2031
g0065_dome_object_n326_r0
test_wild
dome
object
326
5,778
35.447853
analytic
2.113823
10
0.066114
0.343891
0.400974
1,605
0.012585
1,912,817,934
0.098086
0.159411
494
splits/test_wild/g0065_dome_object_n326_r0.npz
splits/test_wild/g0065_dome_object_n326_r0.g2o
9c21c99a2094debd529a81605ff214fe4a37b94590c1cb7e65c858c2af4839ab
g0066_manhattan_urban_n696_r0
test_wild
manhattan
urban
694
6,154
17.73487
analytic
1.189603
10
0.074255
0.08141
0
0
0.021305
573,693,944
0.208307
0.317051
75
splits/test_wild/g0066_manhattan_urban_n696_r0.npz
splits/test_wild/g0066_manhattan_urban_n696_r0.g2o
ac20993004ab8422420c2de84677fb8f22aca55dbd8dd10c81a869ea9ff4d765
g0067_orbit_object_n688_r0
test_wild
orbit
object
688
28,446
82.69186
analytic
1.354889
40
0.017603
0.017647
0
0
0.028563
2,097,683,147
0.042702
0.121166
799
splits/test_wild/g0067_orbit_object_n688_r0.npz
splits/test_wild/g0067_orbit_object_n688_r0.g2o
10b5ed3a033c5c036736c4b9e282217c92af9c5b5658c065859274dcaaa0524e
g0068_crowd_plaza_n770_r0
test_wild
crowd
plaza
770
23,566
61.21039
analytic
1.245982
20
0.198658
0.376135
0.554987
4,182
0.016066
1,355,479,108
0.056388
0.122171
350
splits/test_wild/g0068_crowd_plaza_n770_r0.npz
splits/test_wild/g0068_crowd_plaza_n770_r0.g2o
ceb41d6f7be71a06db1d9794597e762fd6080cb1a515122383c8a76f64b26d5c
g0069_dome_object_n439_r0
test_wild
dome
object
439
5,389
24.551253
analytic
0.424403
10
0.296335
0.296344
0
0
0.069693
1,130,250,816
0.015593
0.031917
802
splits/test_wild/g0069_dome_object_n439_r0.npz
splits/test_wild/g0069_dome_object_n439_r0.g2o
4833405be08629ea24708dcb8c06bae75652f92a394b2177c70eb2e96d8f7196
g0070_lawnmower_terrain_n238_r0
test_wild
lawnmower
terrain
238
2,642
22.201681
analytic
0.838621
10
0.300249
0.300151
0
0
0.088296
3,816,092,714
0.050153
0.05908
454
splits/test_wild/g0070_lawnmower_terrain_n238_r0.npz
splits/test_wild/g0070_lawnmower_terrain_n238_r0.g2o
1a2cf636d93426a30c70c86e985c758d2dfda541cc78b87b3cb456c3bb6e82e3
g0071_crowd_plaza_n146_r0
test_wild
crowd
plaza
146
2,404
32.931507
analytic
1.628697
10
0.07655
0.395591
0.222363
762
0.025408
112,393,308
0.14937
0.219344
116
splits/test_wild/g0071_crowd_plaza_n146_r0.npz
splits/test_wild/g0071_crowd_plaza_n146_r0.g2o
7fb24693e62f7dfba3c1a9a8fd6a0a12df35c3c1926899c91d433dffd94176fb
g0072_manhattan_urban_n116_r0
test_wild
manhattan
urban
115
558
9.704348
analytic
1.519943
5
0.377718
0.396057
0
0
0.07063
1,635,862,972
0.198735
0.414392
76
splits/test_wild/g0072_manhattan_urban_n116_r0.npz
splits/test_wild/g0072_manhattan_urban_n116_r0.g2o
63a17e1dbd3ad4b45d0d1dc8de28a4c7b3c91b64f2769c98eef2a46b7c351345
g0073_crowd_plaza_n63_r0
test_wild
crowd
plaza
63
354
11.238095
analytic
1.047193
5
0.228823
0.228814
0
0
0.10129
1,446,679,668
0.071129
0.107597
247
splits/test_wild/g0073_crowd_plaza_n63_r0.npz
splits/test_wild/g0073_crowd_plaza_n63_r0.g2o
cb5dbfa0949c00c461a1f9131118bda8f5323797466963e253a6e42b95617ff1
g0074_crowd_plaza_n560_r0
test_wild
crowd
plaza
560
7,191
25.682143
analytic
1.745598
5
0.114924
0.492143
0.447373
2,712
0.025559
1,118,112,392
0.05973
0.148507
301
splits/test_wild/g0074_crowd_plaza_n560_r0.npz
splits/test_wild/g0074_crowd_plaza_n560_r0.g2o
d07489ca5a213739b894456ccfd41736df8bf80a392585903bfc9d0e547ab8e5
g0075_dome_object_n263_r0
test_wild
dome
object
263
11,318
86.068441
analytic
1.09351
40
0.075992
0.075985
0
0
0.083946
1,438,565,361
0.091117
0.094227
326
splits/test_wild/g0075_dome_object_n263_r0.npz
splits/test_wild/g0075_dome_object_n263_r0.g2o
de38a3c6c43528971c642429acdc21339d4831eec3761e8b25cff5fa828bb284
g0076_corridor_corridor_n288_r0
test_wild
corridor
corridor
288
1,440
10
analytic
1.84786
5
0.393961
0.39375
0
0
0.055739
3,967,359,341
0.165148
0.294147
185
splits/test_wild/g0076_corridor_corridor_n288_r0.npz
splits/test_wild/g0076_corridor_corridor_n288_r0.g2o
9aea96246b0780bff049112d6e1a646d6f6d797ac079456445a1b9ce036dad0c
g0077_lawnmower_terrain_n234_r0
test_wild
lawnmower
terrain
234
1,393
11.905983
twoview
2.326524
5
0.187247
0.187365
0
0
0.094834
2,211,289,472
0.180232
0.3041
391
splits/test_wild/g0077_lawnmower_terrain_n234_r0.npz
splits/test_wild/g0077_lawnmower_terrain_n234_r0.g2o
83c4c3e1088d84bcb062dd8673b3f7e9e2d529eeed2881729033de5dfd4ae9d6
g0078_manhattan_urban_n412_r0
test_wild
manhattan
urban
410
6,160
30.04878
analytic
0.385039
20
0.320242
0.321591
0
0
0.024911
31,812,745
0.077815
0.114524
74
splits/test_wild/g0078_manhattan_urban_n412_r0.npz
splits/test_wild/g0078_manhattan_urban_n412_r0.g2o
332c875cfd9dbd18e555d4565264f306d85a67373c16eb00444ced5b472baf88
g0079_orbit_object_n48_r0
test_wild
orbit
object
48
471
19.625
analytic
1.014959
5
0.010839
0.458599
0.179929
211
0.037649
783,759,506
0.055061
0.07434
273
splits/test_wild/g0079_orbit_object_n48_r0.npz
splits/test_wild/g0079_orbit_object_n48_r0.g2o
bd67c481536eecb2390ab16fe1f5fa030b11470845dabe49e48b087d1137a1ab
g0080_dome_object_n34_r0
test_wild
dome
object
34
397
23.352941
analytic
0.49214
20
0.122812
0.513854
0.577282
155
0.033801
196,080,570
0.069925
0.057605
108
splits/test_wild/g0080_dome_object_n34_r0.npz
splits/test_wild/g0080_dome_object_n34_r0.g2o
1416570bac8ed82697add84695b0923d3413b77a8d742b3f73531bea0abb13ab
g0081_lawnmower_terrain_n196_r0
test_wild
lawnmower
terrain
196
3,983
40.642857
analytic
2.362319
20
0.179397
0.179513
0
0
0.089357
3,227,575,669
0.175813
0.192134
394
splits/test_wild/g0081_lawnmower_terrain_n196_r0.npz
splits/test_wild/g0081_lawnmower_terrain_n196_r0.g2o
b30fb912bf9ab3ad1c9f99bac839deda4585edfff735b40a004cc1b85789f18a
g0082_corridor_corridor_n417_r0
test_wild
corridor
corridor
417
4,289
20.570743
analytic
1.952112
5
0.046822
0.308697
0.229334
1,123
0.012842
1,167,892,282
0.238748
0.312819
138
splits/test_wild/g0082_corridor_corridor_n417_r0.npz
splits/test_wild/g0082_corridor_corridor_n417_r0.g2o
fd515ffd541915ec29a09d8ec61ff23567b35f48ff19ddef9a20e237a6840444
g0083_crowd_facade_n289_r0
test_wild
crowd
facade
287
5,530
38.536585
analytic
0.817523
10
0.187112
0.365642
0.567088
987
0.084651
3,529,252,781
0.036171
0.041213
276
splits/test_wild/g0083_crowd_facade_n289_r0.npz
splits/test_wild/g0083_crowd_facade_n289_r0.g2o
f9ccc58c88470b947444f8d7c731df40106b060ee482e0c87073e38fde4867f4
g0084_crowd_plaza_n342_r0
test_wild
crowd
plaza
342
10,214
59.730994
analytic
0.923235
20
0.110946
0.29675
0.436725
1,897
0.010134
1,108,414,860
0.062012
0.098732
194
splits/test_wild/g0084_crowd_plaza_n342_r0.npz
splits/test_wild/g0084_crowd_plaza_n342_r0.g2o
c81404e2a7967f3a9d561818ca6e283e64efecdcccb9ac0eee47dd1cc7ceb75e
g0085_crowd_plaza_n614_r0
test_wild
crowd
plaza
614
14,850
48.371336
analytic
1.645898
20
0.376357
0.376498
0
0
0.112248
4,287,983,170
0.068572
0.141818
435
splits/test_wild/g0085_crowd_plaza_n614_r0.npz
splits/test_wild/g0085_crowd_plaza_n614_r0.g2o
260ac4c730319a30386a40cb94995666aa5bae42b741218abd586af2b4570791
g0086_walk_room_n718_r0
test_wild
walk
room
715
9,452
26.439161
analytic
1.588187
10
0.139984
0.140288
0
0
0.010776
2,694,248,187
0.119329
0.28718
301
splits/test_wild/g0086_walk_room_n718_r0.npz
splits/test_wild/g0086_walk_room_n718_r0.g2o
facf66ff2f77bb85fc2b8bdb0ae36a8bead67d6546bdb22676c22b240012fbc5
g0087_manhattan_urban_n711_r0
test_wild
manhattan
urban
710
13,518
38.078873
analytic
2.948075
40
0.116201
0.132712
0.215363
0
0.038608
2,821,334,679
0.76956
0.807989
54
splits/test_wild/g0087_manhattan_urban_n711_r0.npz
splits/test_wild/g0087_manhattan_urban_n711_r0.g2o
85ce17d3d8e20c831fe33b04a79bae601c306889b9a2e0ff6218fd6109ce061e
g0088_manhattan_urban_n41_r0
test_wild
manhattan
urban
41
206
10.04878
analytic
1.341418
40
0.2955
0.305825
0
0
0.03302
942,932,547
0.170831
0.32616
82
splits/test_wild/g0088_manhattan_urban_n41_r0.npz
splits/test_wild/g0088_manhattan_urban_n41_r0.g2o
f1dcfe0a865d4870c1b9b4f1860dbff37069ad8443e9c2e302b892d4c34ce542
g0089_lawnmower_terrain_n64_r0
test_wild
lawnmower
terrain
64
688
21.5
analytic
1.650588
20
0.238687
0.239826
0
0
0.044064
209,841,246
0.31169
0.272369
108
splits/test_wild/g0089_lawnmower_terrain_n64_r0.npz
splits/test_wild/g0089_lawnmower_terrain_n64_r0.g2o
bddafc4059d1c41c2629bf7a9aa653278e5a8bdfada480fb7fa49bb693fd613b
g0090_orbit_object_n243_r0
test_wild
orbit
object
243
2,544
20.938272
analytic
0.350081
10
0.218991
0.218947
0
0
0.025676
892,976,665
0.010363
0.040042
1,170
splits/test_wild/g0090_orbit_object_n243_r0.npz
splits/test_wild/g0090_orbit_object_n243_r0.g2o
f7ba6dfb482c39e3ba35e75b5af836d067e762d548ea1af8242d637cf8083901
g0091_dome_object_n775_r0
test_wild
dome
object
775
9,057
23.372903
analytic
2.182963
10
0.233159
0.23319
0
0
0.04849
2,046,771,722
0.054094
0.178655
1,106
splits/test_wild/g0091_dome_object_n775_r0.npz
splits/test_wild/g0091_dome_object_n775_r0.g2o
5267ffeccd4fdbe148807ec3679c8b87842c0a0c19dec627d7ecc18b6317ac3b
g0092_walk_room_n86_r0
test_wild
walk
room
84
1,005
23.928571
analytic
1.397917
20
0.357944
0.360199
0
0
0.014177
4,024,135,791
0.159474
0.343741
120
splits/test_wild/g0092_walk_room_n86_r0.npz
splits/test_wild/g0092_walk_room_n86_r0.g2o
79b717041570daed16e6b2d561d66d5ff93b1c5e1e54a03a0d6ed7e03a24ae0a
g0093_orbit_object_n81_r0
test_wild
orbit
object
81
1,243
30.691358
analytic
2.256676
20
0.35013
0.34996
0
0
0.020968
96,230,219
0.149272
0.201901
282
splits/test_wild/g0093_orbit_object_n81_r0.npz
splits/test_wild/g0093_orbit_object_n81_r0.g2o
aadf93639d354cdd16e6e254f08d2f311cdff1496681c9925c9f681c0a81527a
g0094_crowd_plaza_n36_r0
test_wild
crowd
plaza
36
278
15.444444
analytic
0.621534
5
0.108997
0.611511
0.469658
140
0.010233
3,834,220,331
0.058403
0.077374
69
splits/test_wild/g0094_crowd_plaza_n36_r0.npz
splits/test_wild/g0094_crowd_plaza_n36_r0.g2o
ab3eadb2bff679deb389d3ed9aee88f0216ae40516bd3824881bac5b42d13ae1
g0095_orbit_object_n91_r0
test_wild
orbit
object
91
2,172
47.736264
analytic
1.380343
20
0.102228
0.504144
0.422165
873
0.065322
3,567,584,018
0.075604
0.102061
231
splits/test_wild/g0095_orbit_object_n91_r0.npz
splits/test_wild/g0095_orbit_object_n91_r0.g2o
ceaac45ac0472d66ffa717dbe35ac7a5efcf2b75a29c516d9fe732555ed44225
g0096_crowd_plaza_n345_r0
test_wild
crowd
plaza
345
4,986
28.904348
analytic
2.714849
10
0.307532
0.310269
0
0
0.086631
613,370,625
0.187262
0.32153
346
splits/test_wild/g0096_crowd_plaza_n345_r0.npz
splits/test_wild/g0096_crowd_plaza_n345_r0.g2o
0923c3a6937a9bdc667d2f6685a7229f63b7ee15f9c3b48b516916e0412ba322
g0097_dome_object_n104_r0
test_wild
dome
object
104
3,258
62.653846
analytic
1.310922
40
0.010601
0.279926
0.428137
877
0.01251
2,051,865,068
0.183253
0.163118
106
splits/test_wild/g0097_dome_object_n104_r0.npz
splits/test_wild/g0097_dome_object_n104_r0.g2o
0ad7bf99e3371a1e5b5d11e9bc858430c33e1037175795f1dcf2b926dbafcbb8
g0098_dome_object_n283_r0
test_wild
dome
object
283
6,835
48.303887
analytic
0.423147
20
0.281051
0.281053
0
0
0.016956
1,417,869,314
0.019692
0.026453
681
splits/test_wild/g0098_dome_object_n283_r0.npz
splits/test_wild/g0098_dome_object_n283_r0.g2o
0c066735a9de3e7773994065565259098ef605c96a2edf28f306411c5cda4ea8
g0099_corridor_corridor_n246_r0
test_wild
corridor
corridor
246
2,736
22.243902
analytic
0.726184
40
0.338122
0.338085
0
0
0.116863
2,447,582,950
0.108271
0.125999
124
splits/test_wild/g0099_corridor_corridor_n246_r0.npz
splits/test_wild/g0099_corridor_corridor_n246_r0.g2o
e2e390cde463194df277e8b9ab937bcf74710bda8b4c66d7996661f97a99ddbc
g0100_dome_object_n325_r0
test_wild
dome
object
325
14,426
88.775385
analytic
0.458662
40
0.185106
0.185082
0
0
0.010021
3,626,812,506
0.029426
0.03314
449
splits/test_wild/g0100_dome_object_n325_r0.npz
splits/test_wild/g0100_dome_object_n325_r0.g2o
e422aef1d197ba3133367f665ead2b950e82f1b1df5275076ac4e8000f634da6
g0101_manhattan_urban_n102_r0
test_wild
manhattan
urban
102
482
9.45098
analytic
1.508106
40
0.313689
0.327801
0
0
0.029469
357,724,303
0.30525
0.432795
45
splits/test_wild/g0101_manhattan_urban_n102_r0.npz
splits/test_wild/g0101_manhattan_urban_n102_r0.g2o
f67186560add270dbf39c373343fd5c94f980fe550a1345a445717b212259e4a
g0102_crowd_plaza_n95_r0
test_wild
crowd
plaza
95
1,191
25.073684
analytic
2.348097
40
0.084232
0.083963
0
0
0.104142
940,679,776
0.270745
0.352073
89
splits/test_wild/g0102_crowd_plaza_n95_r0.npz
splits/test_wild/g0102_crowd_plaza_n95_r0.g2o
700fe6cbf32f7456c1422665555548b0150e372755e5d1d9856bd6d079687873
g0103_crowd_plaza_n96_r0
test_wild
crowd
plaza
96
1,055
21.979167
analytic
1.622956
10
0.195543
0.195261
0
0
0.088222
890,908,951
0.127638
0.176322
200
splits/test_wild/g0103_crowd_plaza_n96_r0.npz
splits/test_wild/g0103_crowd_plaza_n96_r0.g2o
9c95ad49831559f1b7dd5db0767f675ffca0a34c77e78e0a495590a95348e68e
g0104_dome_object_n111_r0
test_wild
dome
object
111
2,786
50.198198
analytic
1.706085
20
0.07518
0.270998
0.358479
546
0.036173
201,955,964
0.139083
0.134888
276.5
splits/test_wild/g0104_dome_object_n111_r0.npz
splits/test_wild/g0104_dome_object_n111_r0.g2o
c91c10511161c73866a15c35ea11b121212f49020c1074b29ad4d724d3da48a4