Datasets:
ezharjan
/
ViewGraphBench

Dataset card Data Studio Files
xet
 Community
1
graph_id
stringlengths
22
45
split
stringclasses
16 values
family
stringclasses
7 values
scene
stringclasses
7 values
n_nodes
int64
12
100k
n_edges
int64
30
2.88M
mean_degree
float64
4
140
noise_model
stringclasses
2 values
pixel_noise
float64
0.25
16
retrieval_k
int64
3
80
outlier_ratio_target
float64
0
0.6
outlier_ratio
float64
0
0.91
symmetry_confusability
float64
0
0.75
n_symmetry_outliers
int64
0
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
median_n_matches
float64
33
1.35k
npz_path
stringlengths
37
75
g2o_path
stringlengths
37
75
⌀
sha256_npz
stringlengths
64
64
g0305_crowd_plaza_n792_r0
test_wild
crowd
plaza
792
6,244
15.767677
analytic
0.846513
5
0.158167
0.158232
0
0
0.103203
2,617,905,662
0.028112
0.079057
693
splits/test_wild/g0305_crowd_plaza_n792_r0.npz
splits/test_wild/g0305_crowd_plaza_n792_r0.g2o
cf4dad664c16ecea01b66d5230c6a5227d2a1be8ab2972da0c848031768d30c2
g0306_walk_room_n73_r0
test_wild
walk
room
73
688
18.849315
analytic
0.675668
10
0.041278
0.040698
0
0
0.044395
2,891,327,632
0.082278
0.193229
125
splits/test_wild/g0306_walk_room_n73_r0.npz
splits/test_wild/g0306_walk_room_n73_r0.g2o
046ee460bcf02e43a3d161764e39ac14fdc580093ce792db65681532eff20c8a
g0307_dome_object_n76_r0
test_wild
dome
object
76
1,283
33.763158
analytic
0.578462
20
0.028228
0.028059
0
0
0.034189
1,556,569,961
0.079581
0.072252
161
splits/test_wild/g0307_dome_object_n76_r0.npz
splits/test_wild/g0307_dome_object_n76_r0.g2o
b1d5776b1ea3fd44ef3e613d80003d82ae9c4f8d16fefb280d4e614f17318cec
g0308_manhattan_urban_n729_r0
test_wild
manhattan
urban
729
17,966
49.289438
analytic
0.582278
40
0.076497
0.076812
0
0
0.015081
3,970,078,937
0.149238
0.142907
75
splits/test_wild/g0308_manhattan_urban_n729_r0.npz
splits/test_wild/g0308_manhattan_urban_n729_r0.g2o
0da4ff3c57e3bd17cd56b1ac40656bc567243c4d079a6b73f1563283d594db17
g0309_orbit_object_n128_r0
test_wild
orbit
object
128
3,281
51.265625
analytic
0.962999
40
0.39824
0.398354
0
0
0.089525
681,627,808
0.058763
0.085676
309
splits/test_wild/g0309_orbit_object_n128_r0.npz
splits/test_wild/g0309_orbit_object_n128_r0.g2o
9ec7d157b236417a2f4f7de2b1b13641ad102e07cd567c5a07d79cbe7108ae05
g0310_orbit_object_n387_r0
test_wild
orbit
object
387
17,951
92.770026
analytic
0.3749
40
0.129701
0.252521
0.475519
2,205
0.03074
2,408,635,929
0.015856
0.029514
870
splits/test_wild/g0310_orbit_object_n387_r0.npz
splits/test_wild/g0310_orbit_object_n387_r0.g2o
4c3fb40ed9fd02ad52374de55256df28b05312438a40c1ccd8b65cf8826b74a0
g0311_lawnmower_terrain_n236_r0
test_wild
lawnmower
terrain
236
7,595
64.364407
analytic
1.342067
40
0.007284
0.007242
0
0
0.022262
3,189,547,558
0.154183
0.139835
240
splits/test_wild/g0311_lawnmower_terrain_n236_r0.npz
splits/test_wild/g0311_lawnmower_terrain_n236_r0.g2o
e9e9a4ed8e5871612829ef47ed2d871329f7de39f11a91fa9240dff316fced7f
g0312_orbit_object_n120_r0
test_wild
orbit
object
120
2,698
44.966667
analytic
1.564748
40
0.135215
0.135285
0
0
0.038058
1,496,956,555
0.139311
0.183024
228
splits/test_wild/g0312_orbit_object_n120_r0.npz
splits/test_wild/g0312_orbit_object_n120_r0.g2o
d645cc0748ee4866b66afc95f85ade564e03a59f26388c64130ddc92be58779d
g0313_orbit_object_n69_r0
test_wild
orbit
object
69
1,026
29.73913
analytic
2.624867
10
0.129342
0.461988
0.439222
341
0.018651
828,670,444
0.136789
0.202113
274.5
splits/test_wild/g0313_orbit_object_n69_r0.npz
splits/test_wild/g0313_orbit_object_n69_r0.g2o
854124323075cadbc149098dd3d66895d7e942dc62e5c7b69bb09d87da97dd1f
g0314_crowd_facade_n79_r0
test_wild
crowd
facade
79
1,290
32.658228
analytic
1.715474
40
0.045555
0.090698
0.415818
58
0.022379
1,194,797,028
0.133101
0.168484
65
splits/test_wild/g0314_crowd_facade_n79_r0.npz
splits/test_wild/g0314_crowd_facade_n79_r0.g2o
941c649aec7814079df420f9d18b704c1083f37c5f78b6196d668ae373dd7199
g0315_crowd_plaza_n31_r0
test_wild
crowd
plaza
31
280
18.064516
analytic
1.002378
10
0.104607
0.675
0.50875
160
0.045945
1,454,934,831
0.093464
0.124855
82.5
splits/test_wild/g0315_crowd_plaza_n31_r0.npz
splits/test_wild/g0315_crowd_plaza_n31_r0.g2o
41f8ef9cef377f4e997a7220f3b32bedadec56adc0bd6e9ef4823faf42a5ddf0
g0316_crowd_plaza_n304_r0
test_wild
crowd
plaza
304
11,012
72.447368
analytic
2.50684
40
0.136108
0.136397
0
0
0.023512
1,722,384,717
0.228756
0.30611
148
splits/test_wild/g0316_crowd_plaza_n304_r0.npz
splits/test_wild/g0316_crowd_plaza_n304_r0.g2o
44c659728a3e252e8e19055dff43c2cb54cb9cc9d96db8192e41ff1ecb97e773
g0317_orbit_object_n222_r0
test_wild
orbit
object
222
1,239
11.162162
analytic
0.545388
5
0.18391
0.184019
0
0
0.025294
2,814,163,101
0.013882
0.082878
1,139
splits/test_wild/g0317_orbit_object_n222_r0.npz
splits/test_wild/g0317_orbit_object_n222_r0.g2o
7d775a055d07cb4f5b40dada53979af035a4822cde974c531be16d9df260d32e
g0318_orbit_object_n346_r0
test_wild
orbit
object
346
3,805
21.99422
analytic
1.339753
10
0.323157
0.323259
0
0
0.109713
615,867,489
0.037864
0.190844
886
splits/test_wild/g0318_orbit_object_n346_r0.npz
splits/test_wild/g0318_orbit_object_n346_r0.g2o
3cbb9b2f28e27132f2539ab34e608bf3d798a3239a7ffca38a9ab595b172801b
g0319_orbit_object_n329_r0
test_wild
orbit
object
329
3,709
22.547112
analytic
0.380423
10
0.39524
0.395255
0
0
0.010069
308,953,609
0.015125
0.071356
512
splits/test_wild/g0319_orbit_object_n329_r0.npz
splits/test_wild/g0319_orbit_object_n329_r0.g2o
3af02dfb74e4d0e24f0dd92a12403dabf10c962323f3950b3b17862976a5593a
g0320_corridor_corridor_n467_r0
test_wild
corridor
corridor
467
4,952
21.207709
analytic
1.430723
5
0.124227
0.509693
0.517551
1,909
0.010078
1,414,733,180
0.157434
0.220354
109
splits/test_wild/g0320_corridor_corridor_n467_r0.npz
splits/test_wild/g0320_corridor_corridor_n467_r0.g2o
f8a87c9c998d9d0a9453cc21ed7c336324ccd7036a0d9ec4a9cf16313533093d
g0321_dome_object_n329_r0
test_wild
dome
object
329
9,707
59.009119
analytic
2.09006
20
0.193354
0.368291
0.53974
1,698
0.145307
263,304,835
0.102094
0.141631
552
splits/test_wild/g0321_dome_object_n329_r0.npz
splits/test_wild/g0321_dome_object_n329_r0.g2o
05953e579b5ed4f7934b2139ec09576fb6883b3087741fe96361a3f6df2ac3f3
g0322_dome_object_n44_r0
test_wild
dome
object
44
569
25.863636
analytic
0.601529
10
0.09429
0.363796
0.160745
153
0.022829
3,455,529,378
0.059547
0.055342
142
splits/test_wild/g0322_dome_object_n44_r0.npz
splits/test_wild/g0322_dome_object_n44_r0.g2o
87c5924e7830ef1501d3bb54e03e6157b1c3589dad42769378b76ff57d5febae
g0323_dome_object_n262_r0
test_wild
dome
object
262
11,313
86.358779
analytic
0.904136
40
0.222359
0.222399
0
0
0.096882
616,419,505
0.06865
0.069323
351
splits/test_wild/g0323_dome_object_n262_r0.npz
splits/test_wild/g0323_dome_object_n262_r0.g2o
6331e42de27a9ba559fc135b5fbece4db027a51a8277b03131f63407da407f83
g0324_lawnmower_terrain_n49_r0
test_wild
lawnmower
terrain
49
254
10.367347
analytic
0.896197
5
0.332215
0.330709
0
0
0.076132
2,824,992,965
0.087133
0.09529
215.5
splits/test_wild/g0324_lawnmower_terrain_n49_r0.npz
splits/test_wild/g0324_lawnmower_terrain_n49_r0.g2o
522802f8cc0b856da4c82327d2179ff77e831ecc6e11a860a2a1391c1b96485d
g0325_orbit_object_n291_r0
test_wild
orbit
object
291
3,731
25.642612
analytic
1.536141
5
0.040688
0.485929
0.423732
1,661
0.137152
1,188,550,028
0.048501
0.272783
471
splits/test_wild/g0325_orbit_object_n291_r0.npz
splits/test_wild/g0325_orbit_object_n291_r0.g2o
c7ee0865253d3f8be602cd6c6b589aa059effc64dce21ffc40710f0c374b912a
g0326_lawnmower_terrain_n654_r0
test_wild
lawnmower
terrain
654
22,800
69.724771
analytic
0.661326
40
0.115676
0.115658
0
0
0.042595
3,448,665,401
0.077874
0.075609
188.5
splits/test_wild/g0326_lawnmower_terrain_n654_r0.npz
splits/test_wild/g0326_lawnmower_terrain_n654_r0.g2o
1a197157f17e7e36912c7f7a59557def52c34fea919f1398285b90634999e282
g0327_walk_room_n153_r0
test_wild
walk
room
152
1,649
21.697368
analytic
2.55133
10
0.06814
0.078836
0
0
0.09521
154,014,482
0.442783
0.812698
99
splits/test_wild/g0327_walk_room_n153_r0.npz
splits/test_wild/g0327_walk_room_n153_r0.g2o
b25e2c3c1555bfdcf86340cae6e8997aab827fb65bd07f2b93cb7e2048918c26
g0328_manhattan_urban_n637_r0
test_wild
manhattan
urban
633
11,320
35.766193
analytic
1.480563
20
0.022212
0.034541
0
0
0.012696
3,042,627,526
0.334835
0.424597
72
splits/test_wild/g0328_manhattan_urban_n637_r0.npz
splits/test_wild/g0328_manhattan_urban_n637_r0.g2o
cc519d42abf6fdf2ecf098b5082d4502dbd5dd8640b8ea7f3ed05eba0361f77a
g0329_crowd_facade_n593_r0
test_wild
crowd
facade
575
15,925
55.391304
analytic
0.75807
20
0.086607
0.214505
0.378043
2,036
0.037066
1,415,825,922
0.03967
0.059555
219
splits/test_wild/g0329_crowd_facade_n593_r0.npz
splits/test_wild/g0329_crowd_facade_n593_r0.g2o
68a1d2ccbebbb2f32d1b46cbc6e7b08574332787ea0f4b3405ed43e3c117ffb4
g0330_walk_room_n289_r0
test_wild
walk
room
283
1,927
13.618375
analytic
0.930021
5
0.185524
0.1863
0
0
0.087776
882,681,977
0.09741
0.240454
169
splits/test_wild/g0330_walk_room_n289_r0.npz
splits/test_wild/g0330_walk_room_n289_r0.g2o
e926a6e9ae5afb8d03cd8e46199dce7ebf41b7dff603e34cae7c9514436b3a2d
g0331_dome_object_n105_r0
test_wild
dome
object
105
660
12.571429
analytic
2.841956
5
0.16864
0.168182
0
0
0.039241
3,617,954,132
0.176902
0.231988
397
splits/test_wild/g0331_dome_object_n105_r0.npz
splits/test_wild/g0331_dome_object_n105_r0.g2o
9247a8decfa38dadd46843976784dcf35153a981e8dcf10064fe57b686de52ce
g0332_corridor_corridor_n47_r0
test_wild
corridor
corridor
47
505
21.489362
analytic
2.618431
20
0.069086
0.451485
0.409513
193
0.030394
2,478,981,979
0.521787
0.632027
53
splits/test_wild/g0332_corridor_corridor_n47_r0.npz
splits/test_wild/g0332_corridor_corridor_n47_r0.g2o
0465c74c8f85da97a9ca520489f1b2d24be7ec83937beb4c38034c080698480a
g0333_walk_room_n99_r0
test_wild
walk
room
99
1,008
20.363636
analytic
0.677481
20
0.184448
0.184524
0
0
0.013313
2,246,309,442
0.138218
0.245152
58
splits/test_wild/g0333_walk_room_n99_r0.npz
splits/test_wild/g0333_walk_room_n99_r0.g2o
ba97d4b7c4cdfdf0d14910b6cc2be3a7669f30ab65ccc7a9389ed6d5e9370026
g0334_walk_room_n125_r0
test_wild
walk
room
125
2,078
33.248
analytic
0.436408
20
0.035706
0.036092
0
0
0.021792
1,409,955,908
0.085561
0.139135
114
splits/test_wild/g0334_walk_room_n125_r0.npz
splits/test_wild/g0334_walk_room_n125_r0.g2o
7f3685406def1d9daa9a7949326823eace76ce9f596aebf255b61d94164d9252
g0335_crowd_plaza_n259_r0
test_wild
crowd
plaza
259
9,893
76.393822
analytic
2.084905
40
0.043966
0.17194
0.267307
1,264
0.084328
2,008,073,387
0.211406
0.266859
112
splits/test_wild/g0335_crowd_plaza_n259_r0.npz
splits/test_wild/g0335_crowd_plaza_n259_r0.g2o
980e78714ed6d3fbe7d2f922920317d5a254fa3bf1d9afb2919209b870a40620
g0336_crowd_plaza_n489_r0
test_wild
crowd
plaza
489
13,712
56.0818
analytic
0.869666
20
0.121916
0.249052
0.173935
1,743
0.045226
1,242,168,607
0.042284
0.075733
363
splits/test_wild/g0336_crowd_plaza_n489_r0.npz
splits/test_wild/g0336_crowd_plaza_n489_r0.g2o
89fba2e3b42e2dfe662cc177d77d965a595f096f42e70d192314bac04674e83d
g0337_orbit_object_n139_r0
test_wild
orbit
object
139
3,521
50.661871
analytic
0.847348
20
0.073528
0.287418
0.332421
753
0.087314
3,474,988,967
0.058693
0.086079
270
splits/test_wild/g0337_orbit_object_n139_r0.npz
splits/test_wild/g0337_orbit_object_n139_r0.g2o
02c8d6e13f9d5a9df42a43fd9646cc809ebce9d4207e45e7994d2429a070606f
g0338_lawnmower_terrain_n58_r0
test_wild
lawnmower
terrain
58
505
17.413793
analytic
2.474619
10
0.021231
0.021782
0
0
0.016832
210,917,021
0.337806
0.293378
226
splits/test_wild/g0338_lawnmower_terrain_n58_r0.npz
splits/test_wild/g0338_lawnmower_terrain_n58_r0.g2o
73fb83e39243dd06e668f1c4a408b7d75c3b5bbe9bc5447337449bd682ce5265
g0339_corridor_corridor_n71_r0
test_wild
corridor
corridor
71
735
20.704225
analytic
0.607387
40
0.136339
0.136054
0
0
0.042941
1,252,334,319
0.099856
0.121191
121
splits/test_wild/g0339_corridor_corridor_n71_r0.npz
splits/test_wild/g0339_corridor_corridor_n71_r0.g2o
3080cc69f7581ed01dae5ace0e017dc9798886259a51cd3ef39d5ec6c1f4dda6
g0340_crowd_plaza_n742_r0
test_wild
crowd
plaza
742
35,577
95.894879
analytic
2.382927
40
0.131311
0.223009
0.591718
3,258
0.063611
185,583,750
0.16999
0.275864
188
splits/test_wild/g0340_crowd_plaza_n742_r0.npz
splits/test_wild/g0340_crowd_plaza_n742_r0.g2o
b028027fb46220165994a56b8688ed95f26e30de177355a957c758279c58accf
g0341_manhattan_urban_n195_r0
test_wild
manhattan
urban
195
948
9.723077
analytic
0.969764
5
0.044461
0.054852
0.306032
0
0.015539
2,645,240,677
0.138368
0.290095
118
splits/test_wild/g0341_manhattan_urban_n195_r0.npz
splits/test_wild/g0341_manhattan_urban_n195_r0.g2o
97c7a0263e03d5cd782f355fda21af620c817e8bfc061931b9921336b06f0da7
g0342_corridor_corridor_n196_r0
test_wild
corridor
corridor
196
2,114
21.571429
analytic
0.449406
20
0.175721
0.175497
0
0
0.062194
415,583,531
0.091126
0.094584
109
splits/test_wild/g0342_corridor_corridor_n196_r0.npz
splits/test_wild/g0342_corridor_corridor_n196_r0.g2o
54d0f7a618581a111c819131ecf44f3760f7a901b050f991e98ae776b51683bb
g0343_orbit_object_n725_r0
test_wild
orbit
object
725
16,158
44.573793
analytic
0.394879
20
0.265553
0.265565
0
0
0.01245
4,184,555,297
0.010036
0.056364
863
splits/test_wild/g0343_orbit_object_n725_r0.npz
splits/test_wild/g0343_orbit_object_n725_r0.g2o
fb68972ed6249585ff7e18c804f5fa2f971415d8c6d272e62bd72d17e4068a1e
g0344_crowd_plaza_n215_r0
test_wild
crowd
plaza
215
8,843
82.260465
analytic
2.582811
40
0.06606
0.401447
0.357777
2,966
0.037387
1,660,627,879
0.216024
0.30119
107
splits/test_wild/g0344_crowd_plaza_n215_r0.npz
splits/test_wild/g0344_crowd_plaza_n215_r0.g2o
a65adf66ac9091101d171eea6f07e19837fdd74058b38e9d0b67fd3fa00560ea
g0345_dome_object_n482_r0
test_wild
dome
object
482
2,970
12.323651
analytic
1.44613
5
0.086688
0.086532
0
0
0.028892
1,998,043,050
0.035181
0.114447
1,143.5
splits/test_wild/g0345_dome_object_n482_r0.npz
splits/test_wild/g0345_dome_object_n482_r0.g2o
be7904b51ccbaeb3186eafe1991158c418c3a79a5cde5cdfd08fc9b31089ee0c
g0346_walk_room_n487_r0
test_wild
walk
room
486
3,673
15.115226
analytic
0.304468
5
0.313959
0.313912
0
0
0.091824
1,574,270,252
0.031336
0.073978
204
splits/test_wild/g0346_walk_room_n487_r0.npz
splits/test_wild/g0346_walk_room_n487_r0.g2o
41f99511752e4b6010597352de7d5a307b2c1c348fc1ae3b640412fd21106a81
g0347_crowd_plaza_n214_r0
test_wild
crowd
plaza
214
4,782
44.691589
analytic
0.69421
40
0.113167
0.113133
0
0
0.099549
558,139,142
0.078501
0.110171
90
splits/test_wild/g0347_crowd_plaza_n214_r0.npz
splits/test_wild/g0347_crowd_plaza_n214_r0.g2o
6be70e1bbcdbed15896382ed24bab98efe8ec3277c0850a83996237916b0ae49
g0348_crowd_plaza_n182_r0
test_wild
crowd
plaza
182
6,364
69.934066
twoview
1.324214
40
0.185262
0.501257
0.215747
2,008
0.146507
3,142,519,517
0.111907
0.107619
82
splits/test_wild/g0348_crowd_plaza_n182_r0.npz
splits/test_wild/g0348_crowd_plaza_n182_r0.g2o
f0d59ef634a28191ba1b26354629908e8f6d2835c1afa3e0203f6c38f0ae0646
g0349_corridor_corridor_n46_r0
test_wild
corridor
corridor
46
476
20.695652
analytic
1.268353
10
0.000988
0.415966
0.522792
198
0.140439
1,081,802,569
0.247047
0.33581
58
splits/test_wild/g0349_corridor_corridor_n46_r0.npz
splits/test_wild/g0349_corridor_corridor_n46_r0.g2o
28bbb297831d8c5f8751b018ad37be5b4150abcfc0b550ac429353ea02e9685a
g0350_corridor_corridor_n148_r0
test_wild
corridor
corridor
148
1,484
20.054054
twoview
0.387204
20
0.195168
0.196765
0
0
0.020809
4,258,808,534
0.027446
0.071139
87.5
splits/test_wild/g0350_corridor_corridor_n148_r0.npz
splits/test_wild/g0350_corridor_corridor_n148_r0.g2o
2a2852fd676f0cfe7f8a97a3ca8a71b9a041370b648753d8115fdaff42debc83
g0351_crowd_plaza_n143_r0
test_wild
crowd
plaza
143
2,335
32.657343
twoview
1.347514
10
0.102605
0.363597
0.128874
608
0.077867
4,227,121,167
0.083551
0.099917
125
splits/test_wild/g0351_crowd_plaza_n143_r0.npz
splits/test_wild/g0351_crowd_plaza_n143_r0.g2o
23e1e930d4151390cd4d9a3a2d6641286d374caaa083f408de260bc8bf09f33a
g0352_walk_room_n229_r0
test_wild
walk
room
226
3,131
27.707965
analytic
0.574352
10
0.290602
0.290642
0
0
0.016091
550,340,300
0.046969
0.104417
240
splits/test_wild/g0352_walk_room_n229_r0.npz
splits/test_wild/g0352_walk_room_n229_r0.g2o
0ff3c2b189a3ee55a44d2ff98e8135197cfa1ced675c06810732eaeab84db169
g0353_crowd_plaza_n329_r0
test_wild
crowd
plaza
329
6,746
41.009119
analytic
0.374466
10
0.050506
0.349392
0.40171
2,016
0.147879
1,741,668,444
0.017417
0.031194
297
splits/test_wild/g0353_crowd_plaza_n329_r0.npz
splits/test_wild/g0353_crowd_plaza_n329_r0.g2o
d2fc252ff19adbff859aa551441fcf493c7f15d5c29739521ec3063ebc52a609
g0354_crowd_facade_n137_r0
test_wild
crowd
facade
134
4,006
59.791045
analytic
1.980902
40
0.175731
0.193709
0.233003
72
0.092455
1,563,766,705
0.125557
0.141829
134
splits/test_wild/g0354_crowd_facade_n137_r0.npz
splits/test_wild/g0354_crowd_facade_n137_r0.g2o
3ff1cdeca41d42bbc6261656bf0e74d3561de797f0cd176684201329d08ffe60
g0355_crowd_plaza_n638_r0
test_wild
crowd
plaza
638
8,435
26.442006
analytic
0.852951
5
0.073075
0.445406
0.384125
3,141
0.040104
1,666,899,980
0.034922
0.088444
208
splits/test_wild/g0355_crowd_plaza_n638_r0.npz
splits/test_wild/g0355_crowd_plaza_n638_r0.g2o
79267acd670ef3d0471a9e73c20cd1cb11c3c4bcaab105f10a0fcf2d42df0f44
g0356_crowd_plaza_n592_r0
test_wild
crowd
plaza
592
4,513
15.246622
analytic
2.200261
5
0.169937
0.170175
0
0
0.09375
2,575,120,049
0.088576
0.223955
492
splits/test_wild/g0356_crowd_plaza_n592_r0.npz
splits/test_wild/g0356_crowd_plaza_n592_r0.g2o
6ca13bba8df5ba840b1dc9c8bfb00f3c4a221e7bdaefb220f42c4158fa3cf6a2
g0357_corridor_corridor_n53_r0
test_wild
corridor
corridor
53
647
24.415094
analytic
1.031931
20
0.14635
0.425039
0.249858
180
0.088528
2,584,360,384
0.201422
0.253017
84
splits/test_wild/g0357_corridor_corridor_n53_r0.npz
splits/test_wild/g0357_corridor_corridor_n53_r0.g2o
65aa659d0f269bf194f50aa60de681a4428039f47d11d21a7e7ef1439d0b546a
g0358_crowd_plaza_n581_r0
test_wild
crowd
plaza
581
6,442
22.175559
analytic
1.14587
5
0.052316
0.333903
0.142633
1,814
0.037937
1,077,217,194
0.047794
0.106094
420
splits/test_wild/g0358_crowd_plaza_n581_r0.npz
splits/test_wild/g0358_crowd_plaza_n581_r0.g2o
1fd2aa7a36ee63347cfbf6ddbf06302c8891ae3b4115a923db509b6936cc8337
g0359_crowd_plaza_n41_r0
test_wild
crowd
plaza
41
445
21.707317
analytic
0.74147
40
0.085659
0.631461
0.395497
243
0.113674
1,478,022,081
0.063552
0.117674
91
splits/test_wild/g0359_crowd_plaza_n41_r0.npz
splits/test_wild/g0359_crowd_plaza_n41_r0.g2o
def0686f55e35d83b981ce94e375292cb944ae5d363a87c64f6b45e67dc48892
g0360_manhattan_urban_n556_r0
test_wild
manhattan
urban
556
5,716
20.561151
twoview
2.757085
10
0.015007
0.045661
0.220439
0
0.104757
3,527,251,016
0.163481
0.354464
131
splits/test_wild/g0360_manhattan_urban_n556_r0.npz
splits/test_wild/g0360_manhattan_urban_n556_r0.g2o
e34ab01e3a746919adeb966fbac0a363ab7bed87c7ea60964ec959b39fcf2c62
g0361_crowd_facade_n453_r0
test_wild
crowd
facade
448
5,027
22.441964
analytic
0.88942
5
0.169402
0.218023
0.148038
244
0.078517
4,283,660,470
0.030696
0.048582
294
splits/test_wild/g0361_crowd_facade_n453_r0.npz
splits/test_wild/g0361_crowd_facade_n453_r0.g2o
64a469f4c10e61fc5d4588f634fc86da5e5c678009809b0d9b3e608375b7bbb5
g0362_dome_object_n250_r0
test_wild
dome
object
250
5,997
47.976
analytic
0.302787
20
0.215183
0.215274
0
0
0.140666
1,953,709,784
0.020121
0.025475
623
splits/test_wild/g0362_dome_object_n250_r0.npz
splits/test_wild/g0362_dome_object_n250_r0.g2o
fc1e19694c8acf33a0bdf034edabe7ad78a717a3483d5830e4c3dba403c73b60
g0363_crowd_facade_n365_r0
test_wild
crowd
facade
361
6,871
38.066482
analytic
1.034839
10
0.035193
0.166206
0.459802
900
0.08729
1,761,418,093
0.054372
0.059207
225
splits/test_wild/g0363_crowd_facade_n365_r0.npz
splits/test_wild/g0363_crowd_facade_n365_r0.g2o
d7923e702ea38a9c5ebe49097e79dc2610ab84cf8617f93156d0e9178c9503b9
g0364_manhattan_urban_n60_r0
test_wild
manhattan
urban
60
299
9.966667
analytic
1.641036
10
0.114511
0.130435
0
0
0.010562
218,035,807
0.289239
0.528594
67
splits/test_wild/g0364_manhattan_urban_n60_r0.npz
splits/test_wild/g0364_manhattan_urban_n60_r0.g2o
1241a0550771efaf28f2aacb9bf230277c28fcf9f3fbc94269238e5c6ea41c0c
g0365_manhattan_urban_n581_r0
test_wild
manhattan
urban
581
3,358
11.55938
analytic
0.624527
5
0.084622
0.086957
0
0
0.064508
3,322,805,541
0.054837
0.125538
204
splits/test_wild/g0365_manhattan_urban_n581_r0.npz
splits/test_wild/g0365_manhattan_urban_n581_r0.g2o
0b2dfb4fc050b8f6b7a911e0b713ab25735735ddd48def8d46ead2b93abd3837
g0366_crowd_plaza_n303_r0
test_wild
crowd
plaza
303
10,434
68.871287
analytic
1.964684
40
0.275261
0.275254
0
0
0.045703
687,469,420
0.170926
0.236492
126
splits/test_wild/g0366_crowd_plaza_n303_r0.npz
splits/test_wild/g0366_crowd_plaza_n303_r0.g2o
7f3012b513e6944b182825aacfb4e98423b3c12460ef9d2433ed5b2ab47d326b
g0367_crowd_plaza_n52_r0
test_wild
crowd
plaza
52
357
13.730769
twoview
1.406367
20
0.205283
0.204482
0
0
0.083409
3,468,920,148
0.157774
0.132528
97
splits/test_wild/g0367_crowd_plaza_n52_r0.npz
splits/test_wild/g0367_crowd_plaza_n52_r0.g2o
1836e946d3a70f79eee4a8b98d9eb684f6fe29c842ce79b1c144c2553b7aad09
g0368_manhattan_urban_n80_r0
test_wild
manhattan
urban
80
545
13.625
analytic
1.462873
40
0.072142
0.088073
0.252223
0
0.023125
2,838,927,104
0.260416
0.362717
88
splits/test_wild/g0368_manhattan_urban_n80_r0.npz
splits/test_wild/g0368_manhattan_urban_n80_r0.g2o
88499b372143255f53177aaf7079c98c61a3cc4ff4a37571a90bc7f6be03bc16
g0369_manhattan_urban_n70_r0
test_wild
manhattan
urban
70
320
9.142857
analytic
1.238089
40
0.159024
0.1625
0.186501
0
0.019218
3,155,151,233
0.227366
0.343444
60
splits/test_wild/g0369_manhattan_urban_n70_r0.npz
splits/test_wild/g0369_manhattan_urban_n70_r0.g2o
cf9471fe0c0432d63bb285035dc3aa68c0fa15ee7e6b0d7d4bd3783720879452
g0370_lawnmower_terrain_n620_r0
test_wild
lawnmower
terrain
620
7,102
22.909677
analytic
0.908311
10
0.038449
0.03844
0
0
0.066822
3,821,822,237
0.0705
0.085378
284
splits/test_wild/g0370_lawnmower_terrain_n620_r0.npz
splits/test_wild/g0370_lawnmower_terrain_n620_r0.g2o
3957c443b5434162e8024b81a2608aea4ff3ed48e77b70088b52cadfb6fb9bb9
g0371_orbit_object_n81_r0
test_wild
orbit
object
81
407
10.049383
analytic
0.413062
5
0.111609
0.110565
0
0
0.025102
1,420,678,623
0.013613
0.033631
738
splits/test_wild/g0371_orbit_object_n81_r0.npz
splits/test_wild/g0371_orbit_object_n81_r0.g2o
e4cccf7052b208303472da7e282248dcf09ef596a1ab6111b8936296bb041e73
g0372_crowd_plaza_n395_r0
test_wild
crowd
plaza
395
5,777
29.250633
analytic
0.444331
10
0.301513
0.301541
0
0
0.060605
3,211,492,482
0.022019
0.040951
403
splits/test_wild/g0372_crowd_plaza_n395_r0.npz
splits/test_wild/g0372_crowd_plaza_n395_r0.g2o
214ea060a0b1a591e18f91739870d4e31584761d965d3262a7083bf9faf89a13
g0373_corridor_corridor_n298_r0
test_wild
corridor
corridor
298
2,877
19.308725
analytic
1.744824
10
0.024145
0.024678
0
0
0.094829
2,207,369,245
0.3462
0.417539
76
splits/test_wild/g0373_corridor_corridor_n298_r0.npz
splits/test_wild/g0373_corridor_corridor_n298_r0.g2o
3a95a6f63fcd775114fbfca8c3817932882ebf040394b2a8af34969c187572f0
g0374_manhattan_urban_n288_r0
test_wild
manhattan
urban
286
2,731
19.097902
analytic
0.839807
20
0.341456
0.347126
0
0
0.112819
845,508,630
0.163309
0.240912
57
splits/test_wild/g0374_manhattan_urban_n288_r0.npz
splits/test_wild/g0374_manhattan_urban_n288_r0.g2o
1b41114b05d039e4567d31fb65b1946e6757e5d270afd069bbddbd00ac741314
g0375_lawnmower_terrain_n38_r0
test_wild
lawnmower
terrain
38
220
11.578947
twoview
0.370267
40
0.100848
0.1
0
0
0.037807
1,613,220,758
0.113469
0.097781
107
splits/test_wild/g0375_lawnmower_terrain_n38_r0.npz
splits/test_wild/g0375_lawnmower_terrain_n38_r0.g2o
9ec3e310b9dbb67059be8d90c6ff863adc3a29b676f7e701add6dd06978f9c82
g0376_corridor_corridor_n339_r0
test_wild
corridor
corridor
339
5,132
30.277286
analytic
0.899395
20
0.094956
0.484606
0.319117
2,000
0.031371
2,442,933,392
0.140449
0.158831
66
splits/test_wild/g0376_corridor_corridor_n339_r0.npz
splits/test_wild/g0376_corridor_corridor_n339_r0.g2o
89f7087f46879e252ee8e17236ac398339c0b24c0efc2a90ca518e7381328745
g0377_crowd_facade_n264_r0
test_wild
crowd
facade
261
5,107
39.1341
analytic
0.952884
10
0.057304
0.189544
0.507683
675
0.061819
232,641,278
0.042545
0.048388
303
splits/test_wild/g0377_crowd_facade_n264_r0.npz
splits/test_wild/g0377_crowd_facade_n264_r0.g2o
7d3ee58e26dab5944100831e6d6b7c7e1f141d755e8ab4ffe71dd356e84bce5b
g0378_corridor_corridor_n724_r0
test_wild
corridor
corridor
724
9,363
25.864641
analytic
1.354199
10
0.188552
0.60707
0.512063
3,919
0.018027
3,331,391,656
0.187536
0.2623
73
splits/test_wild/g0378_corridor_corridor_n724_r0.npz
splits/test_wild/g0378_corridor_corridor_n724_r0.g2o
dabb1f52536c27e410e3f8b0c8d0f6cc5efcd54ec171fb75dd4ab755fe3ce52f
g0379_walk_room_n57_r0
test_wild
walk
room
53
425
16.037736
analytic
0.491205
10
0.007352
0.007059
0
0
0.12704
4,225,089,931
0.060381
0.133656
146
splits/test_wild/g0379_walk_room_n57_r0.npz
splits/test_wild/g0379_walk_room_n57_r0.g2o
964f3733f741ad41f1f8b16630d86e6446d3e931cff64adf57a491d33b4ea5ff
g0380_crowd_plaza_n184_r0
test_wild
crowd
plaza
183
1,293
14.131148
twoview
2.650278
5
0.383875
0.383604
0
0
0.083613
3,284,437,294
0.126919
0.197399
227
splits/test_wild/g0380_crowd_plaza_n184_r0.npz
splits/test_wild/g0380_crowd_plaza_n184_r0.g2o
b4d57a8e8b2a0b6a46787cab8cd703973c5e02be0ce93f0117573e4892c922cc
g0381_lawnmower_terrain_n32_r0
test_wild
lawnmower
terrain
32
153
9.5625
analytic
0.423664
40
0.387779
0.385621
0
0
0.111529
1,484,083,367
0.059212
0.050669
163
splits/test_wild/g0381_lawnmower_terrain_n32_r0.npz
splits/test_wild/g0381_lawnmower_terrain_n32_r0.g2o
91ad35da390db2b6633d253acd25f9ac4242fc0a9616db991f9187e65813ecbc
g0382_dome_object_n31_r0
test_wild
dome
object
31
367
23.677419
analytic
0.94139
20
0.182057
0.536785
0.378822
130
0.074587
1,700,349,312
0.114854
0.088245
116
splits/test_wild/g0382_dome_object_n31_r0.npz
splits/test_wild/g0382_dome_object_n31_r0.g2o
9d21ecc21e6e2b4b5a5c48c50b62cdd0700654df7edfa6c08860b1d944092814
g0383_lawnmower_terrain_n64_r0
test_wild
lawnmower
terrain
64
730
22.8125
analytic
1.03822
40
0.303222
0.30274
0
0
0.100889
3,782,269,133
0.130245
0.128211
154
splits/test_wild/g0383_lawnmower_terrain_n64_r0.npz
splits/test_wild/g0383_lawnmower_terrain_n64_r0.g2o
7dba021932ffafe2ad4759b941e2a8b4c29dff1c0de5d0dbb8ddd8f04f2e45f8
g0384_dome_object_n33_r0
test_wild
dome
object
33
236
14.30303
analytic
2.559646
20
0.256241
0.254237
0
0
0.016276
1,675,336,214
0.294676
0.278866
160
splits/test_wild/g0384_dome_object_n33_r0.npz
splits/test_wild/g0384_dome_object_n33_r0.g2o
86931311c43f8453b5154f0051032602c7b0e83bcc38b7b8f8139e140e3b052d
g0385_crowd_facade_n59_r0
test_wild
crowd
facade
56
520
18.571429
analytic
2.604609
10
0.174187
0.190385
0.299871
5
0.101669
3,801,726,155
0.250505
0.309965
75
splits/test_wild/g0385_crowd_facade_n59_r0.npz
splits/test_wild/g0385_crowd_facade_n59_r0.g2o
655691b80b80d4e20e4d7d4a2de16d24a434c07689ebe0fad9b0d1ea8948b887
g0386_manhattan_urban_n244_r0
test_wild
manhattan
urban
241
1,783
14.79668
analytic
0.314296
10
0.050119
0.051038
0
0
0.021039
2,398,489,535
0.056872
0.095113
64
splits/test_wild/g0386_manhattan_urban_n244_r0.npz
splits/test_wild/g0386_manhattan_urban_n244_r0.g2o
ad6a0c13ecd3f3fe78fbbd7ce801fb16b10cf94cea8dbe71846a836f575f434b
g0387_crowd_plaza_n84_r0
test_wild
crowd
plaza
84
916
21.809524
analytic
0.437474
40
0.164617
0.164847
0
0
0.016223
38,030,826
0.050318
0.064892
93
splits/test_wild/g0387_crowd_plaza_n84_r0.npz
splits/test_wild/g0387_crowd_plaza_n84_r0.g2o
57aa575fe50ac59041e5de56f21fae0265e109ea2dbb4de18eb686f32d6e16ea
g0388_lawnmower_terrain_n296_r0
test_wild
lawnmower
terrain
296
9,415
63.614865
twoview
0.779563
40
0.095158
0.099841
0
0
0.115695
26,026,106
0.159922
0.16005
219
splits/test_wild/g0388_lawnmower_terrain_n296_r0.npz
splits/test_wild/g0388_lawnmower_terrain_n296_r0.g2o
d7f5c2ebdf8af637ddf55ee4230bbb30843d441a2169efd6a4746be783422083
g0389_dome_object_n76_r0
test_wild
dome
object
76
1,425
37.5
analytic
0.906897
40
0.103282
0.103158
0
0
0.013468
1,674,065,312
0.11348
0.098167
211
splits/test_wild/g0389_dome_object_n76_r0.npz
splits/test_wild/g0389_dome_object_n76_r0.g2o
b99f14476e569d3ca94f2aae802b38db76dd7254fbecccb986c2c4fc84807c77
g0390_dome_object_n117_r0
test_wild
dome
object
117
729
12.461538
twoview
2.206879
5
0.324755
0.325103
0
0
0.011823
671,440,806
0.178594
0.163196
466
splits/test_wild/g0390_dome_object_n117_r0.npz
splits/test_wild/g0390_dome_object_n117_r0.g2o
738e0fb0afe6bd7d805785a10fcad78ba99ac14d10b853e51052259073d22b04
g0391_manhattan_urban_n100_r0
test_wild
manhattan
urban
100
624
12.48
analytic
0.506992
10
0.24855
0.248397
0
0
0.016393
1,497,977,660
0.085341
0.136753
67
splits/test_wild/g0391_manhattan_urban_n100_r0.npz
splits/test_wild/g0391_manhattan_urban_n100_r0.g2o
96731a871e2a9fe73ccf783a7d43a050fa0f36d6a240d7d852cf3e0f10721721
g0392_crowd_plaza_n126_r0
test_wild
crowd
plaza
126
1,362
21.619048
analytic
2.681219
5
0.087536
0.406021
0.135272
434
0.013175
20,994,503
0.167017
0.25831
113
splits/test_wild/g0392_crowd_plaza_n126_r0.npz
splits/test_wild/g0392_crowd_plaza_n126_r0.g2o
06c46253d34672f5f3b94ac5e93294bf261a8338db0921abbb33c3d97dc43b25
g0393_dome_object_n48_r0
test_wild
dome
object
48
472
19.666667
analytic
2.170745
5
0.019325
0.436441
0.506297
197
0.03252
3,404,641,395
0.174259
0.172241
194.5
splits/test_wild/g0393_dome_object_n48_r0.npz
splits/test_wild/g0393_dome_object_n48_r0.g2o
ca17beca2d7b178229b101d07090d966b1db44e94eadd3b3212488744306d0d3
g0394_dome_object_n342_r0
test_wild
dome
object
342
9,884
57.80117
twoview
0.383486
20
0.121671
0.273776
0.112145
1,503
0.082805
3,981,332,542
0.024012
0.022124
671
splits/test_wild/g0394_dome_object_n342_r0.npz
splits/test_wild/g0394_dome_object_n342_r0.g2o
27ad20e46054594d187d172edf38119de65d486cae71fc504a3b40cba007ee70
g0395_orbit_object_n31_r0
test_wild
orbit
object
31
190
12.258065
analytic
0.463548
20
0.112396
0.110526
0
0
0.074279
1,171,585,580
0.04193
0.048193
296.5
splits/test_wild/g0395_orbit_object_n31_r0.npz
splits/test_wild/g0395_orbit_object_n31_r0.g2o
73a80463a3365fb6e0e9f6f3166a01c1b71d6461aafcb3f975fa992c464d9838
g0396_walk_room_n340_r0
test_wild
walk
room
337
4,664
27.679525
twoview
1.055506
10
0.106609
0.107847
0
0
0.108444
2,475,482,303
0.060791
0.143869
182
splits/test_wild/g0396_walk_room_n340_r0.npz
splits/test_wild/g0396_walk_room_n340_r0.g2o
f1b27ae44f78c22fcaab587e3315ed85020823a40a9c1f2b1dfecb6306e487b7
g0397_lawnmower_terrain_n104_r0
test_wild
lawnmower
terrain
104
1,081
20.788462
analytic
2.940953
10
0.20892
0.209066
0
0
0.064712
528,621,854
0.257834
0.295056
210
splits/test_wild/g0397_lawnmower_terrain_n104_r0.npz
splits/test_wild/g0397_lawnmower_terrain_n104_r0.g2o
ce522786829670ce6d4583a708c50c3e1a28483d5db6638017e96c7a6dacd65e
g0398_corridor_corridor_n165_r0
test_wild
corridor
corridor
165
2,457
29.781818
twoview
2.162718
20
0.090353
0.492063
0.334055
986
0.012783
4,210,819,118
0.119574
0.31889
66
splits/test_wild/g0398_corridor_corridor_n165_r0.npz
splits/test_wild/g0398_corridor_corridor_n165_r0.g2o
905973e7f8d515248021c4d0bad89d4218005143c5a0e24993ad06636e64fd34
g0399_lawnmower_terrain_n170_r0
test_wild
lawnmower
terrain
170
1,009
11.870588
analytic
1.358065
5
0.368978
0.368682
0
0
0.047684
876,632,457
0.093844
0.148256
394
splits/test_wild/g0399_lawnmower_terrain_n170_r0.npz
splits/test_wild/g0399_lawnmower_terrain_n170_r0.g2o
f4a42a8c2e01f206296b74d00c93aa5be64f8cbb70372ade261710327bd4db91
g0400_orbit_object_n67_r0
test_wild
orbit
object
67
881
26.298507
twoview
1.99299
20
0.093897
0.094211
0
0
0.014597
2,870,382,784
0.210159
0.18286
302
splits/test_wild/g0400_orbit_object_n67_r0.npz
splits/test_wild/g0400_orbit_object_n67_r0.g2o
09f14e5b6f941e082790a19b4b92d3e94ffa1d6e70fa84a18aaeb9e66ef16f19
g0401_crowd_plaza_n72_r0
test_wild
crowd
plaza
72
1,109
30.805556
analytic
1.293955
40
0.115789
0.422002
0.101108
339
0.010976
1,873,658,339
0.120261
0.171945
67
splits/test_wild/g0401_crowd_plaza_n72_r0.npz
splits/test_wild/g0401_crowd_plaza_n72_r0.g2o
eb86a83aef4d699c8cf196bc5984be2106e72608de316ebd7b099c30c29d2271
g0402_dome_object_n579_r0
test_wild
dome
object
579
25,660
88.635579
analytic
0.342068
40
0.151937
0.151949
0
0
0.093509
1,626,852,865
0.018187
0.025215
530
splits/test_wild/g0402_dome_object_n579_r0.npz
splits/test_wild/g0402_dome_object_n579_r0.g2o
df98d0e5c09f57d961e80a8c16132983cdd72c0176c8958b57acfd50a4e7cc7c
g0403_crowd_plaza_n84_r0
test_wild
crowd
plaza
84
1,439
34.261905
analytic
0.904879
40
0.033313
0.300208
0.323218
384
0.111659
4,165,032,454
0.086466
0.10637
98
splits/test_wild/g0403_crowd_plaza_n84_r0.npz
splits/test_wild/g0403_crowd_plaza_n84_r0.g2o
20471b05674857d7dc40812645ee64dafbbf45a0c78eca36c0cfc4056dae701c
g0404_corridor_corridor_n305_r0
test_wild
corridor
corridor
305
4,800
31.47541
analytic
1.723186
40
0.022579
0.5475
0.570618
2,520
0.140568
1,632,449,928
0.199469
0.255178
123
splits/test_wild/g0404_corridor_corridor_n305_r0.npz
splits/test_wild/g0404_corridor_corridor_n305_r0.g2o
cb1e9a4a43261dedce7f7d3712025c5f1baf48271537244d6fb4d501cd40fd87