Visibility depends a lot on individual eye sensitivity too. I can see the beam of a 5mW red pointer at night, only just, but I can see it. And when I'm looking directly down the beam (coming at me) It is reasonably noticable. It may seem weird or unsafe, but I can even burn objects up close with my X105 (100+mW green) with no goggles and I have no adverse effects on my vision. So sensetivity to light varies alot.
Green is the brightest (555nm is the peak of sensitivity) and as the wavelength increases or decreases the sensitivity decreases. I would imagine 5mW of 650nm (red) would be about as bright as 5mW of 473nm (blue) and 593.5nm(yellow/orange/amber) would be close to that of 532nm. Bluray (405nm, violet) would be less visible than 650nm but more visible than 780nm (NIR or deep red).
Burning for green, +50mW will burn a little, pop balloons, and simple stuff... +75mW will be just about the same but be able to light matches when focused, 100-130mW will burn pretty much everything and it'll be bright as hell. Any more power than that and it burns everything, just faster. This is with a beam diameter of ~1.5mm. More than 600mW will set paper on fire, and once you start counting in watts, you can cook pretty much whatever you want.
Burning for red is basically the same, but normally red lasers have a larger beam diameter so burning would seem to be less efficient. Also, red is a longer wavelength than green, blue, etc. so the energy density will be slightly less, however the difference won't be very noticeable.
Blu-ray burns the best out of visible lasers because of it's shorter wavelength, so a violet laser could probably light a match with 30-40mW when focused.
Edit: I don't have personal experience with all these wavelengths so feel free to correct me if I am wrong about any of it