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  1. data/spatial codes/ground truth/explicit/47333918.json +5 -9
  2. data/spatial codes/ground truth/explicit/47334238.json +11 -16
  3. data/spatial codes/ground truth/explicit/47334239.json +5 -10
  4. data/spatial codes/ground truth/explicit/47334254.json +9 -13
  5. data/spatial codes/ground truth/explicit/47334372.json +3 -6
  6. data/spatial codes/ground truth/explicit/47429904.json +13 -19
  7. data/spatial codes/ground truth/explicit/47429912.json +3 -6
  8. data/spatial codes/ground truth/explicit/47429922.json +9 -15
  9. data/spatial codes/ground truth/explicit/47429992.json +3 -7
  10. data/spatial codes/ground truth/explicit/47429998.json +3 -5
  11. data/spatial codes/ground truth/explicit/47430007.json +3 -7
  12. data/spatial codes/ground truth/explicit/47430023.json +5 -10
  13. data/spatial codes/ground truth/explicit/47430034.json +15 -22
  14. data/spatial codes/ground truth/explicit/47430038.json +7 -12
  15. data/spatial codes/ground truth/explicit/47430048.json +3 -7
  16. data/spatial codes/ground truth/explicit/47430422.json +3 -7
  17. data/spatial codes/ground truth/explicit/47430468.json +21 -29
  18. data/spatial codes/ground truth/explicit/47430475.json +3 -5
  19. data/spatial codes/ground truth/explicit/5748ce6f01.json +3 -10
  20. data/spatial codes/ground truth/explicit/578511c8a9.json +149 -164
  21. data/spatial codes/ground truth/explicit/5942004064.json +101 -115
  22. data/spatial codes/ground truth/explicit/5eb31827b7.json +79 -92
  23. data/spatial codes/ground truth/explicit/5ee7c22ba0.json +3 -9
  24. data/spatial codes/ground truth/explicit/5f99900f09.json +57 -67
  25. data/spatial codes/ground truth/explicit/7831862f02.json +11 -16
  26. data/spatial codes/ground truth/explicit/7b6477cb95.json +89 -104
  27. data/spatial codes/ground truth/explicit/825d228aec.json +11 -18
  28. data/spatial codes/ground truth/explicit/9071e139d9.json +31 -39
  29. data/spatial codes/ground truth/explicit/99fa5c25e1.json +5 -8
  30. data/spatial codes/ground truth/explicit/a24f64f7fb.json +5 -13
  31. data/spatial codes/ground truth/explicit/a8bf42d646.json +17 -23
  32. data/spatial codes/ground truth/explicit/a980334473.json +3 -8
  33. data/spatial codes/ground truth/explicit/ac48a9b736.json +67 -77
  34. data/spatial codes/ground truth/explicit/acd95847c5.json +107 -123
  35. data/spatial codes/ground truth/explicit/bde1e479ad.json +47 -56
  36. data/spatial codes/ground truth/explicit/c49a8c6cff.json +99 -115
  37. data/spatial codes/ground truth/explicit/c50d2d1d42.json +99 -113
  38. data/spatial codes/ground truth/explicit/d755b3d9d8.json +127 -143
  39. data/spatial codes/ground truth/explicit/e398684d27.json +3 -7
  40. data/spatial codes/ground truth/explicit/f9f95681fd.json +15 -23
  41. data/spatial codes/ground truth/explicit/scene0030_02.json +29 -37
  42. data/spatial codes/ground truth/explicit/scene0046_01.json +63 -75
data/spatial codes/ground truth/explicit/47333918.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -110,7 +110,7 @@
110
  "closest classes distance meters from": {
111
  "stool": {
112
  "table": {
113
- "distance": "0.51 meters",
114
  "closeness rank": 1
115
  },
116
  "tv": {
@@ -130,7 +130,7 @@
130
  },
131
  "table": {
132
  "stool": {
133
- "distance": "0.51 meters",
134
  "closeness rank": 1
135
  },
136
  "tv": {
@@ -139,9 +139,5 @@
139
  }
140
  }
141
  },
142
- "appearance order": [
143
- "stool",
144
- "tv",
145
- "table"
146
- ]
147
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
110
  "closest classes distance meters from": {
111
  "stool": {
112
  "table": {
113
+ "distance": "0.52 meters",
114
  "closeness rank": 1
115
  },
116
  "tv": {
 
130
  },
131
  "table": {
132
  "stool": {
133
+ "distance": "0.52 meters",
134
  "closeness rank": 1
135
  },
136
  "tv": {
 
139
  }
140
  }
141
  },
142
+ "appearance order": ["stool", "tv", "table"]
 
 
 
 
143
  }
data/spatial codes/ground truth/explicit/47334238.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -175,7 +175,7 @@
175
  "closeness rank": 1
176
  },
177
  "sofa": {
178
- "distance": "0.16 meters",
179
  "closeness rank": 2
180
  },
181
  "stool": {
@@ -189,35 +189,35 @@
189
  "closeness rank": 1
190
  },
191
  "sofa": {
192
- "distance": "0.09 meters",
193
  "closeness rank": 2
194
  },
195
  "stool": {
196
- "distance": "2.91 meters",
197
  "closeness rank": 3
198
  }
199
  },
200
  "sofa": {
201
  "chair": {
202
- "distance": "0.09 meters",
203
  "closeness rank": 1
204
  },
205
  "table": {
206
- "distance": "0.16 meters",
207
  "closeness rank": 2
208
  },
209
  "stool": {
210
- "distance": "2.2 meters",
211
  "closeness rank": 3
212
  }
213
  },
214
  "stool": {
215
  "sofa": {
216
- "distance": "2.2 meters",
217
  "closeness rank": 1
218
  },
219
  "chair": {
220
- "distance": "2.91 meters",
221
  "closeness rank": 2
222
  },
223
  "table": {
@@ -226,10 +226,5 @@
226
  }
227
  }
228
  },
229
- "appearance order": [
230
- "table",
231
- "chair",
232
- "sofa",
233
- "stool"
234
- ]
235
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
175
  "closeness rank": 1
176
  },
177
  "sofa": {
178
+ "distance": "1.68 meters",
179
  "closeness rank": 2
180
  },
181
  "stool": {
 
189
  "closeness rank": 1
190
  },
191
  "sofa": {
192
+ "distance": "2.08 meters",
193
  "closeness rank": 2
194
  },
195
  "stool": {
196
+ "distance": "4.44 meters",
197
  "closeness rank": 3
198
  }
199
  },
200
  "sofa": {
201
  "chair": {
202
+ "distance": "2.08 meters",
203
  "closeness rank": 1
204
  },
205
  "table": {
206
+ "distance": "1.68 meters",
207
  "closeness rank": 2
208
  },
209
  "stool": {
210
+ "distance": "3.27 meters",
211
  "closeness rank": 3
212
  }
213
  },
214
  "stool": {
215
  "sofa": {
216
+ "distance": "3.27 meters",
217
  "closeness rank": 1
218
  },
219
  "chair": {
220
+ "distance": "4.44 meters",
221
  "closeness rank": 2
222
  },
223
  "table": {
 
226
  }
227
  }
228
  },
229
+ "appearance order": ["table", "chair", "sofa", "stool"]
 
 
 
 
 
230
  }
data/spatial codes/ground truth/explicit/47334239.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -123,7 +123,7 @@
123
  "closeness rank": 2
124
  },
125
  "stool": {
126
- "distance": "1.44 meters",
127
  "closeness rank": 3
128
  }
129
  },
@@ -161,7 +161,7 @@
161
  "closeness rank": 1
162
  },
163
  "bathtub": {
164
- "distance": "1.44 meters",
165
  "closeness rank": 2
166
  },
167
  "toilet": {
@@ -170,10 +170,5 @@
170
  }
171
  }
172
  },
173
- "appearance order": [
174
- "bathtub",
175
- "toilet",
176
- "washer",
177
- "stool"
178
- ]
179
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
123
  "closeness rank": 2
124
  },
125
  "stool": {
126
+ "distance": "1.59 meters",
127
  "closeness rank": 3
128
  }
129
  },
 
161
  "closeness rank": 1
162
  },
163
  "bathtub": {
164
+ "distance": "1.59 meters",
165
  "closeness rank": 2
166
  },
167
  "toilet": {
 
170
  }
171
  }
172
  },
173
+ "appearance order": ["bathtub", "toilet", "washer", "stool"]
 
 
 
 
 
174
  }
data/spatial codes/ground truth/explicit/47334254.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -126,38 +126,34 @@
126
  "closest classes distance meters from": {
127
  "stove": {
128
  "chair": {
129
- "distance": "1.28 meters",
130
  "closeness rank": 1
131
  },
132
  "table": {
133
- "distance": "1.48 meters",
134
  "closeness rank": 2
135
  }
136
  },
137
  "table": {
138
  "chair": {
139
- "distance": "0.0 meters",
140
  "closeness rank": 1
141
  },
142
  "stove": {
143
- "distance": "1.48 meters",
144
  "closeness rank": 2
145
  }
146
  },
147
  "chair": {
148
  "table": {
149
- "distance": "0.0 meters",
150
  "closeness rank": 1
151
  },
152
  "stove": {
153
- "distance": "1.28 meters",
154
  "closeness rank": 2
155
  }
156
  }
157
  },
158
- "appearance order": [
159
- "stove",
160
- "table",
161
- "chair"
162
- ]
163
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
126
  "closest classes distance meters from": {
127
  "stove": {
128
  "chair": {
129
+ "distance": "1.78 meters",
130
  "closeness rank": 1
131
  },
132
  "table": {
133
+ "distance": "1.61 meters",
134
  "closeness rank": 2
135
  }
136
  },
137
  "table": {
138
  "chair": {
139
+ "distance": "0.36 meters",
140
  "closeness rank": 1
141
  },
142
  "stove": {
143
+ "distance": "1.61 meters",
144
  "closeness rank": 2
145
  }
146
  },
147
  "chair": {
148
  "table": {
149
+ "distance": "0.36 meters",
150
  "closeness rank": 1
151
  },
152
  "stove": {
153
+ "distance": "1.78 meters",
154
  "closeness rank": 2
155
  }
156
  }
157
  },
158
+ "appearance order": ["stove", "table", "chair"]
 
 
 
 
159
  }
data/spatial codes/ground truth/explicit/47334372.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -100,8 +100,5 @@
100
  }
101
  }
102
  },
103
- "appearance order": [
104
- "bathtub",
105
- "washer"
106
- ]
107
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
100
  }
101
  }
102
  },
103
+ "appearance order": ["bathtub", "washer"]
 
 
 
104
  }
data/spatial codes/ground truth/explicit/47429904.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -212,7 +212,7 @@
212
  "closeness rank": 3
213
  },
214
  "chair": {
215
- "distance": "1.79 meters",
216
  "closeness rank": 4
217
  }
218
  },
@@ -226,7 +226,7 @@
226
  "closeness rank": 2
227
  },
228
  "chair": {
229
- "distance": "0.33 meters",
230
  "closeness rank": 3
231
  },
232
  "tv": {
@@ -236,11 +236,11 @@
236
  },
237
  "table": {
238
  "chair": {
239
- "distance": "0.0 meters",
240
  "closeness rank": 1
241
  },
242
  "stool": {
243
- "distance": "0.13 meters",
244
  "closeness rank": 2
245
  },
246
  "sofa": {
@@ -258,11 +258,11 @@
258
  "closeness rank": 1
259
  },
260
  "table": {
261
- "distance": "0.13 meters",
262
  "closeness rank": 2
263
  },
264
  "chair": {
265
- "distance": "0.16 meters",
266
  "closeness rank": 3
267
  },
268
  "tv": {
@@ -272,28 +272,22 @@
272
  },
273
  "chair": {
274
  "table": {
275
- "distance": "0.0 meters",
276
  "closeness rank": 1
277
  },
278
  "stool": {
279
- "distance": "0.16 meters",
280
  "closeness rank": 2
281
  },
282
  "sofa": {
283
- "distance": "0.33 meters",
284
  "closeness rank": 3
285
  },
286
  "tv": {
287
- "distance": "1.79 meters",
288
  "closeness rank": 4
289
  }
290
  }
291
  },
292
- "appearance order": [
293
- "tv",
294
- "sofa",
295
- "table",
296
- "stool",
297
- "chair"
298
- ]
299
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
212
  "closeness rank": 3
213
  },
214
  "chair": {
215
+ "distance": "2.33 meters",
216
  "closeness rank": 4
217
  }
218
  },
 
226
  "closeness rank": 2
227
  },
228
  "chair": {
229
+ "distance": "2.3 meters",
230
  "closeness rank": 3
231
  },
232
  "tv": {
 
236
  },
237
  "table": {
238
  "chair": {
239
+ "distance": "1.87 meters",
240
  "closeness rank": 1
241
  },
242
  "stool": {
243
+ "distance": "0.14 meters",
244
  "closeness rank": 2
245
  },
246
  "sofa": {
 
258
  "closeness rank": 1
259
  },
260
  "table": {
261
+ "distance": "0.14 meters",
262
  "closeness rank": 2
263
  },
264
  "chair": {
265
+ "distance": "2.74 meters",
266
  "closeness rank": 3
267
  },
268
  "tv": {
 
272
  },
273
  "chair": {
274
  "table": {
275
+ "distance": "1.87 meters",
276
  "closeness rank": 1
277
  },
278
  "stool": {
279
+ "distance": "2.74 meters",
280
  "closeness rank": 2
281
  },
282
  "sofa": {
283
+ "distance": "2.3 meters",
284
  "closeness rank": 3
285
  },
286
  "tv": {
287
+ "distance": "2.33 meters",
288
  "closeness rank": 4
289
  }
290
  }
291
  },
292
+ "appearance order": ["tv", "sofa", "table", "stool", "chair"]
 
 
 
 
 
 
293
  }
data/spatial codes/ground truth/explicit/47429912.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -100,8 +100,5 @@
100
  }
101
  }
102
  },
103
- "appearance order": [
104
- "toilet",
105
- "bathtub"
106
- ]
107
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
100
  }
101
  }
102
  },
103
+ "appearance order": ["toilet", "bathtub"]
 
 
 
104
  }
data/spatial codes/ground truth/explicit/47429922.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -166,11 +166,11 @@
166
  "closeness rank": 1
167
  },
168
  "stool": {
169
- "distance": "0.0 meters",
170
  "closeness rank": 2
171
  },
172
  "tv": {
173
- "distance": "0.39 meters",
174
  "closeness rank": 3
175
  },
176
  "sofa": {
@@ -198,7 +198,7 @@
198
  },
199
  "stool": {
200
  "table": {
201
- "distance": "0.0 meters",
202
  "closeness rank": 1
203
  },
204
  "chair": {
@@ -206,7 +206,7 @@
206
  "closeness rank": 2
207
  },
208
  "tv": {
209
- "distance": "0.86 meters",
210
  "closeness rank": 3
211
  },
212
  "sofa": {
@@ -216,11 +216,11 @@
216
  },
217
  "tv": {
218
  "table": {
219
- "distance": "0.39 meters",
220
  "closeness rank": 1
221
  },
222
  "stool": {
223
- "distance": "0.86 meters",
224
  "closeness rank": 2
225
  },
226
  "chair": {
@@ -233,11 +233,5 @@
233
  }
234
  }
235
  },
236
- "appearance order": [
237
- "sofa",
238
- "table",
239
- "chair",
240
- "stool",
241
- "tv"
242
- ]
243
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
166
  "closeness rank": 1
167
  },
168
  "stool": {
169
+ "distance": "0.24 meters",
170
  "closeness rank": 2
171
  },
172
  "tv": {
173
+ "distance": "1.19 meters",
174
  "closeness rank": 3
175
  },
176
  "sofa": {
 
198
  },
199
  "stool": {
200
  "table": {
201
+ "distance": "0.24 meters",
202
  "closeness rank": 1
203
  },
204
  "chair": {
 
206
  "closeness rank": 2
207
  },
208
  "tv": {
209
+ "distance": "0.95 meters",
210
  "closeness rank": 3
211
  },
212
  "sofa": {
 
216
  },
217
  "tv": {
218
  "table": {
219
+ "distance": "1.19 meters",
220
  "closeness rank": 1
221
  },
222
  "stool": {
223
+ "distance": "0.95 meters",
224
  "closeness rank": 2
225
  },
226
  "chair": {
 
233
  }
234
  }
235
  },
236
+ "appearance order": ["sofa", "table", "chair", "stool", "tv"]
 
 
 
 
 
 
237
  }
data/spatial codes/ground truth/explicit/47429992.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -139,9 +139,5 @@
139
  }
140
  }
141
  },
142
- "appearance order": [
143
- "table",
144
- "tv",
145
- "chair"
146
- ]
147
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
139
  }
140
  }
141
  },
142
+ "appearance order": ["table", "tv", "chair"]
 
 
 
 
143
  }
data/spatial codes/ground truth/explicit/47429998.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -76,7 +76,5 @@
76
  "closest classes distance meters from": {
77
  "bed": {}
78
  },
79
- "appearance order": [
80
- "bed"
81
- ]
82
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
76
  "closest classes distance meters from": {
77
  "bed": {}
78
  },
79
+ "appearance order": ["bed"]
 
 
80
  }
data/spatial codes/ground truth/explicit/47430007.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -131,9 +131,5 @@
131
  }
132
  }
133
  },
134
- "appearance order": [
135
- "bathtub",
136
- "toilet",
137
- "washer"
138
- ]
139
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
131
  }
132
  }
133
  },
134
+ "appearance order": ["bathtub", "toilet", "washer"]
 
 
 
 
135
  }
data/spatial codes/ground truth/explicit/47430023.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -207,13 +207,13 @@
207
  "closeness rank": 2
208
  },
209
  "tv": {
210
- "distance": "0.48 meters",
211
  "closeness rank": 3
212
  }
213
  },
214
  "tv": {
215
  "chair": {
216
- "distance": "0.48 meters",
217
  "closeness rank": 1
218
  },
219
  "table": {
@@ -226,10 +226,5 @@
226
  }
227
  }
228
  },
229
- "appearance order": [
230
- "sofa",
231
- "table",
232
- "chair",
233
- "tv"
234
- ]
235
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
207
  "closeness rank": 2
208
  },
209
  "tv": {
210
+ "distance": "1.38 meters",
211
  "closeness rank": 3
212
  }
213
  },
214
  "tv": {
215
  "chair": {
216
+ "distance": "1.38 meters",
217
  "closeness rank": 1
218
  },
219
  "table": {
 
226
  }
227
  }
228
  },
229
+ "appearance order": ["sofa", "table", "chair", "tv"]
 
 
 
 
 
230
  }
data/spatial codes/ground truth/explicit/47430034.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -181,7 +181,7 @@
181
  "closest classes distance meters from": {
182
  "bed": {
183
  "sofa": {
184
- "distance": "0.0 meters",
185
  "closeness rank": 1
186
  },
187
  "table": {
@@ -207,7 +207,7 @@
207
  "closeness rank": 1
208
  },
209
  "chair": {
210
- "distance": "0.0 meters",
211
  "closeness rank": 2
212
  },
213
  "stool": {
@@ -219,7 +219,7 @@
219
  "closeness rank": 4
220
  },
221
  "tv": {
222
- "distance": "0.41 meters",
223
  "closeness rank": 5
224
  }
225
  },
@@ -247,11 +247,11 @@
247
  },
248
  "tv": {
249
  "table": {
250
- "distance": "0.41 meters",
251
  "closeness rank": 1
252
  },
253
  "chair": {
254
- "distance": "0.81 meters",
255
  "closeness rank": 2
256
  },
257
  "bed": {
@@ -263,21 +263,21 @@
263
  "closeness rank": 4
264
  },
265
  "sofa": {
266
- "distance": "3.47 meters",
267
  "closeness rank": 5
268
  }
269
  },
270
  "chair": {
271
  "table": {
272
- "distance": "0.0 meters",
273
  "closeness rank": 1
274
  },
275
  "sofa": {
276
- "distance": "0.44 meters",
277
  "closeness rank": 2
278
  },
279
  "tv": {
280
- "distance": "0.81 meters",
281
  "closeness rank": 3
282
  },
283
  "stool": {
@@ -291,7 +291,7 @@
291
  },
292
  "sofa": {
293
  "bed": {
294
- "distance": "0.0 meters",
295
  "closeness rank": 1
296
  },
297
  "table": {
@@ -303,21 +303,14 @@
303
  "closeness rank": 3
304
  },
305
  "chair": {
306
- "distance": "0.44 meters",
307
  "closeness rank": 4
308
  },
309
  "tv": {
310
- "distance": "3.47 meters",
311
  "closeness rank": 5
312
  }
313
  }
314
  },
315
- "appearance order": [
316
- "bed",
317
- "table",
318
- "stool",
319
- "tv",
320
- "chair",
321
- "sofa"
322
- ]
323
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
181
  "closest classes distance meters from": {
182
  "bed": {
183
  "sofa": {
184
+ "distance": "0.21 meters",
185
  "closeness rank": 1
186
  },
187
  "table": {
 
207
  "closeness rank": 1
208
  },
209
  "chair": {
210
+ "distance": "1.19 meters",
211
  "closeness rank": 2
212
  },
213
  "stool": {
 
219
  "closeness rank": 4
220
  },
221
  "tv": {
222
+ "distance": "2.86 meters",
223
  "closeness rank": 5
224
  }
225
  },
 
247
  },
248
  "tv": {
249
  "table": {
250
+ "distance": "2.86 meters",
251
  "closeness rank": 1
252
  },
253
  "chair": {
254
+ "distance": "1.17 meters",
255
  "closeness rank": 2
256
  },
257
  "bed": {
 
263
  "closeness rank": 4
264
  },
265
  "sofa": {
266
+ "distance": "3.49 meters",
267
  "closeness rank": 5
268
  }
269
  },
270
  "chair": {
271
  "table": {
272
+ "distance": "1.19 meters",
273
  "closeness rank": 1
274
  },
275
  "sofa": {
276
+ "distance": "1.74 meters",
277
  "closeness rank": 2
278
  },
279
  "tv": {
280
+ "distance": "1.17 meters",
281
  "closeness rank": 3
282
  },
283
  "stool": {
 
291
  },
292
  "sofa": {
293
  "bed": {
294
+ "distance": "0.21 meters",
295
  "closeness rank": 1
296
  },
297
  "table": {
 
303
  "closeness rank": 3
304
  },
305
  "chair": {
306
+ "distance": "1.74 meters",
307
  "closeness rank": 4
308
  },
309
  "tv": {
310
+ "distance": "3.49 meters",
311
  "closeness rank": 5
312
  }
313
  }
314
  },
315
+ "appearance order": ["bed", "table", "stool", "tv", "chair", "sofa"]
 
 
 
 
 
 
 
316
  }
data/spatial codes/ground truth/explicit/47430038.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -157,11 +157,11 @@
157
  "closeness rank": 1
158
  },
159
  "chair": {
160
- "distance": "1.64 meters",
161
  "closeness rank": 2
162
  },
163
  "table": {
164
- "distance": "1.79 meters",
165
  "closeness rank": 3
166
  }
167
  },
@@ -175,7 +175,7 @@
175
  "closeness rank": 2
176
  },
177
  "stove": {
178
- "distance": "1.79 meters",
179
  "closeness rank": 3
180
  }
181
  },
@@ -189,15 +189,10 @@
189
  "closeness rank": 2
190
  },
191
  "stove": {
192
- "distance": "1.64 meters",
193
  "closeness rank": 3
194
  }
195
  }
196
  },
197
- "appearance order": [
198
- "refrigerator",
199
- "stove",
200
- "table",
201
- "chair"
202
- ]
203
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
157
  "closeness rank": 1
158
  },
159
  "chair": {
160
+ "distance": "2.46 meters",
161
  "closeness rank": 2
162
  },
163
  "table": {
164
+ "distance": "1.96 meters",
165
  "closeness rank": 3
166
  }
167
  },
 
175
  "closeness rank": 2
176
  },
177
  "stove": {
178
+ "distance": "1.96 meters",
179
  "closeness rank": 3
180
  }
181
  },
 
189
  "closeness rank": 2
190
  },
191
  "stove": {
192
+ "distance": "2.46 meters",
193
  "closeness rank": 3
194
  }
195
  }
196
  },
197
+ "appearance order": ["refrigerator", "stove", "table", "chair"]
 
 
 
 
 
198
  }
data/spatial codes/ground truth/explicit/47430048.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -131,9 +131,5 @@
131
  }
132
  }
133
  },
134
- "appearance order": [
135
- "bathtub",
136
- "washer",
137
- "toilet"
138
- ]
139
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
131
  }
132
  }
133
  },
134
+ "appearance order": ["bathtub", "washer", "toilet"]
 
 
 
 
135
  }
data/spatial codes/ground truth/explicit/47430422.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -131,9 +131,5 @@
131
  }
132
  }
133
  },
134
- "appearance order": [
135
- "toilet",
136
- "washer",
137
- "bathtub"
138
- ]
139
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
131
  }
132
  }
133
  },
134
+ "appearance order": ["toilet", "washer", "bathtub"]
 
 
 
 
135
  }
data/spatial codes/ground truth/explicit/47430468.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -202,11 +202,11 @@
202
  "closest classes distance meters from": {
203
  "sofa": {
204
  "stool": {
205
- "distance": "0.0 meters",
206
  "closeness rank": 1
207
  },
208
  "refrigerator": {
209
- "distance": "0.12 meters",
210
  "closeness rank": 2
211
  },
212
  "table": {
@@ -214,7 +214,7 @@
214
  "closeness rank": 3
215
  },
216
  "chair": {
217
- "distance": "0.56 meters",
218
  "closeness rank": 4
219
  },
220
  "tv": {
@@ -222,13 +222,13 @@
222
  "closeness rank": 5
223
  },
224
  "stove": {
225
- "distance": "1.94 meters",
226
  "closeness rank": 6
227
  }
228
  },
229
  "table": {
230
  "chair": {
231
- "distance": "0.0 meters",
232
  "closeness rank": 1
233
  },
234
  "sofa": {
@@ -240,7 +240,7 @@
240
  "closeness rank": 3
241
  },
242
  "stool": {
243
- "distance": "1.26 meters",
244
  "closeness rank": 4
245
  },
246
  "refrigerator": {
@@ -248,7 +248,7 @@
248
  "closeness rank": 5
249
  },
250
  "stove": {
251
- "distance": "2.22 meters",
252
  "closeness rank": 6
253
  }
254
  },
@@ -280,7 +280,7 @@
280
  },
281
  "stool": {
282
  "sofa": {
283
- "distance": "0.0 meters",
284
  "closeness rank": 1
285
  },
286
  "refrigerator": {
@@ -292,11 +292,11 @@
292
  "closeness rank": 3
293
  },
294
  "table": {
295
- "distance": "1.26 meters",
296
  "closeness rank": 4
297
  },
298
  "stove": {
299
- "distance": "1.87 meters",
300
  "closeness rank": 5
301
  },
302
  "tv": {
@@ -306,11 +306,11 @@
306
  },
307
  "chair": {
308
  "table": {
309
- "distance": "0.0 meters",
310
  "closeness rank": 1
311
  },
312
  "sofa": {
313
- "distance": "0.56 meters",
314
  "closeness rank": 2
315
  },
316
  "stool": {
@@ -322,7 +322,7 @@
322
  "closeness rank": 4
323
  },
324
  "stove": {
325
- "distance": "2.11 meters",
326
  "closeness rank": 5
327
  },
328
  "tv": {
@@ -336,19 +336,19 @@
336
  "closeness rank": 1
337
  },
338
  "stool": {
339
- "distance": "1.87 meters",
340
  "closeness rank": 2
341
  },
342
  "sofa": {
343
- "distance": "1.94 meters",
344
  "closeness rank": 3
345
  },
346
  "chair": {
347
- "distance": "2.11 meters",
348
  "closeness rank": 4
349
  },
350
  "table": {
351
- "distance": "2.22 meters",
352
  "closeness rank": 5
353
  },
354
  "tv": {
@@ -358,7 +358,7 @@
358
  },
359
  "refrigerator": {
360
  "sofa": {
361
- "distance": "0.12 meters",
362
  "closeness rank": 1
363
  },
364
  "stool": {
@@ -383,13 +383,5 @@
383
  }
384
  }
385
  },
386
- "appearance order": [
387
- "sofa",
388
- "table",
389
- "tv",
390
- "stool",
391
- "chair",
392
- "stove",
393
- "refrigerator"
394
- ]
395
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
202
  "closest classes distance meters from": {
203
  "sofa": {
204
  "stool": {
205
+ "distance": "1.63 meters",
206
  "closeness rank": 1
207
  },
208
  "refrigerator": {
209
+ "distance": "1.56 meters",
210
  "closeness rank": 2
211
  },
212
  "table": {
 
214
  "closeness rank": 3
215
  },
216
  "chair": {
217
+ "distance": "0.77 meters",
218
  "closeness rank": 4
219
  },
220
  "tv": {
 
222
  "closeness rank": 5
223
  },
224
  "stove": {
225
+ "distance": "3.71 meters",
226
  "closeness rank": 6
227
  }
228
  },
229
  "table": {
230
  "chair": {
231
+ "distance": "1.96 meters",
232
  "closeness rank": 1
233
  },
234
  "sofa": {
 
240
  "closeness rank": 3
241
  },
242
  "stool": {
243
+ "distance": "1.92 meters",
244
  "closeness rank": 4
245
  },
246
  "refrigerator": {
 
248
  "closeness rank": 5
249
  },
250
  "stove": {
251
+ "distance": "4.25 meters",
252
  "closeness rank": 6
253
  }
254
  },
 
280
  },
281
  "stool": {
282
  "sofa": {
283
+ "distance": "1.63 meters",
284
  "closeness rank": 1
285
  },
286
  "refrigerator": {
 
292
  "closeness rank": 3
293
  },
294
  "table": {
295
+ "distance": "1.92 meters",
296
  "closeness rank": 4
297
  },
298
  "stove": {
299
+ "distance": "2.0 meters",
300
  "closeness rank": 5
301
  },
302
  "tv": {
 
306
  },
307
  "chair": {
308
  "table": {
309
+ "distance": "1.96 meters",
310
  "closeness rank": 1
311
  },
312
  "sofa": {
313
+ "distance": "0.77 meters",
314
  "closeness rank": 2
315
  },
316
  "stool": {
 
322
  "closeness rank": 4
323
  },
324
  "stove": {
325
+ "distance": "2.16 meters",
326
  "closeness rank": 5
327
  },
328
  "tv": {
 
336
  "closeness rank": 1
337
  },
338
  "stool": {
339
+ "distance": "2.0 meters",
340
  "closeness rank": 2
341
  },
342
  "sofa": {
343
+ "distance": "3.71 meters",
344
  "closeness rank": 3
345
  },
346
  "chair": {
347
+ "distance": "2.16 meters",
348
  "closeness rank": 4
349
  },
350
  "table": {
351
+ "distance": "4.25 meters",
352
  "closeness rank": 5
353
  },
354
  "tv": {
 
358
  },
359
  "refrigerator": {
360
  "sofa": {
361
+ "distance": "1.56 meters",
362
  "closeness rank": 1
363
  },
364
  "stool": {
 
383
  }
384
  }
385
  },
386
+ "appearance order": ["sofa", "table", "tv", "stool", "chair", "stove", "refrigerator"]
 
 
 
 
 
 
 
 
387
  }
data/spatial codes/ground truth/explicit/47430475.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -76,7 +76,5 @@
76
  "closest classes distance meters from": {
77
  "bed": {}
78
  },
79
- "appearance order": [
80
- "bed"
81
- ]
82
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
76
  "closest classes distance meters from": {
77
  "bed": {}
78
  },
79
+ "appearance order": ["bed"]
 
 
80
  }
data/spatial codes/ground truth/explicit/5748ce6f01.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -328,12 +328,5 @@
328
  }
329
  }
330
  },
331
- "appearance order": [
332
- "whiteboard",
333
- "ceiling light",
334
- "cup",
335
- "chair",
336
- "door",
337
- "table"
338
- ]
339
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
328
  }
329
  }
330
  },
331
+ "appearance order": ["whiteboard", "ceiling light", "cup", "chair", "door", "table"]
 
 
 
 
 
 
 
332
  }
data/spatial codes/ground truth/explicit/578511c8a9.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -989,55 +989,55 @@
989
  "closest classes distance meters from": {
990
  "table": {
991
  "chair": {
992
- "distance": "0.0 meters",
993
  "closeness rank": 1
994
  },
995
  "computer mouse": {
996
- "distance": "0.0 meters",
997
  "closeness rank": 2
998
  },
999
  "computer tower": {
1000
- "distance": "0.0 meters",
1001
  "closeness rank": 3
1002
  },
1003
  "keyboard": {
1004
- "distance": "0.0 meters",
1005
  "closeness rank": 4
1006
  },
1007
  "monitor": {
1008
- "distance": "0.0 meters",
1009
  "closeness rank": 5
1010
  },
1011
  "table lamp": {
1012
- "distance": "0.0 meters",
1013
  "closeness rank": 6
1014
  },
1015
  "telephone": {
1016
- "distance": "0.0 meters",
1017
  "closeness rank": 7
1018
  },
1019
  "whiteboard": {
1020
- "distance": "0.0 meters",
1021
  "closeness rank": 8
1022
  },
1023
  "printer": {
1024
- "distance": "0.01 meters",
1025
  "closeness rank": 9
1026
  },
1027
  "kettle": {
1028
- "distance": "0.57 meters",
1029
  "closeness rank": 10
1030
  },
1031
  "exhaust fan": {
1032
- "distance": "1.65 meters",
1033
  "closeness rank": 11
1034
  },
1035
  "door": {
1036
- "distance": "1.86 meters",
1037
  "closeness rank": 12
1038
  },
1039
  "ceiling light": {
1040
- "distance": "1.87 meters",
1041
  "closeness rank": 13
1042
  }
1043
  },
@@ -1051,23 +1051,23 @@
1051
  "closeness rank": 2
1052
  },
1053
  "whiteboard": {
1054
- "distance": "1.17 meters",
1055
  "closeness rank": 3
1056
  },
1057
  "table": {
1058
- "distance": "1.65 meters",
1059
  "closeness rank": 4
1060
  },
1061
  "chair": {
1062
- "distance": "2.33 meters",
1063
  "closeness rank": 5
1064
  },
1065
  "monitor": {
1066
- "distance": "3.1 meters",
1067
  "closeness rank": 6
1068
  },
1069
  "keyboard": {
1070
- "distance": "3.47 meters",
1071
  "closeness rank": 7
1072
  },
1073
  "computer tower": {
@@ -1083,11 +1083,11 @@
1083
  "closeness rank": 10
1084
  },
1085
  "telephone": {
1086
- "distance": "9.85 meters",
1087
  "closeness rank": 11
1088
  },
1089
  "printer": {
1090
- "distance": "11.17 meters",
1091
  "closeness rank": 12
1092
  },
1093
  "kettle": {
@@ -1097,147 +1097,147 @@
1097
  },
1098
  "monitor": {
1099
  "keyboard": {
1100
- "distance": "0.0 meters",
1101
  "closeness rank": 1
1102
  },
1103
  "table": {
1104
- "distance": "0.0 meters",
1105
  "closeness rank": 2
1106
  },
1107
  "computer tower": {
1108
- "distance": "0.04 meters",
1109
  "closeness rank": 3
1110
  },
1111
  "computer mouse": {
1112
- "distance": "0.04 meters",
1113
  "closeness rank": 4
1114
  },
1115
  "telephone": {
1116
- "distance": "0.11 meters",
1117
  "closeness rank": 5
1118
  },
1119
  "chair": {
1120
- "distance": "0.15 meters",
1121
  "closeness rank": 6
1122
  },
1123
  "whiteboard": {
1124
- "distance": "0.54 meters",
1125
  "closeness rank": 7
1126
  },
1127
  "printer": {
1128
- "distance": "0.72 meters",
1129
  "closeness rank": 8
1130
  },
1131
  "kettle": {
1132
- "distance": "1.38 meters",
1133
  "closeness rank": 9
1134
  },
1135
  "ceiling light": {
1136
- "distance": "1.74 meters",
1137
  "closeness rank": 10
1138
  },
1139
  "table lamp": {
1140
- "distance": "1.75 meters",
1141
  "closeness rank": 11
1142
  },
1143
  "door": {
1144
- "distance": "2.5 meters",
1145
  "closeness rank": 12
1146
  },
1147
  "exhaust fan": {
1148
- "distance": "3.1 meters",
1149
  "closeness rank": 13
1150
  }
1151
  },
1152
  "keyboard": {
1153
  "chair": {
1154
- "distance": "0.0 meters",
1155
  "closeness rank": 1
1156
  },
1157
  "computer mouse": {
1158
- "distance": "0.0 meters",
1159
  "closeness rank": 2
1160
  },
1161
  "monitor": {
1162
- "distance": "0.0 meters",
1163
  "closeness rank": 3
1164
  },
1165
  "table": {
1166
- "distance": "0.0 meters",
1167
  "closeness rank": 4
1168
  },
1169
  "computer tower": {
1170
- "distance": "0.07 meters",
1171
  "closeness rank": 5
1172
  },
1173
  "telephone": {
1174
- "distance": "0.09 meters",
1175
  "closeness rank": 6
1176
  },
1177
  "whiteboard": {
1178
- "distance": "0.75 meters",
1179
  "closeness rank": 7
1180
  },
1181
  "printer": {
1182
- "distance": "1.15 meters",
1183
  "closeness rank": 8
1184
  },
1185
  "kettle": {
1186
- "distance": "1.8 meters",
1187
  "closeness rank": 9
1188
  },
1189
  "table lamp": {
1190
- "distance": "1.95 meters",
1191
  "closeness rank": 10
1192
  },
1193
  "ceiling light": {
1194
- "distance": "2.17 meters",
1195
  "closeness rank": 11
1196
  },
1197
  "door": {
1198
- "distance": "2.32 meters",
1199
  "closeness rank": 12
1200
  },
1201
  "exhaust fan": {
1202
- "distance": "3.47 meters",
1203
  "closeness rank": 13
1204
  }
1205
  },
1206
  "computer tower": {
1207
  "chair": {
1208
- "distance": "0.0 meters",
1209
  "closeness rank": 1
1210
  },
1211
  "table": {
1212
- "distance": "0.0 meters",
1213
  "closeness rank": 2
1214
  },
1215
  "monitor": {
1216
- "distance": "0.04 meters",
1217
  "closeness rank": 3
1218
  },
1219
  "keyboard": {
1220
- "distance": "0.07 meters",
1221
  "closeness rank": 4
1222
  },
1223
  "computer mouse": {
1224
- "distance": "0.32 meters",
1225
  "closeness rank": 5
1226
  },
1227
  "telephone": {
1228
- "distance": "0.82 meters",
1229
  "closeness rank": 6
1230
  },
1231
  "whiteboard": {
1232
- "distance": "1.1 meters",
1233
  "closeness rank": 7
1234
  },
1235
  "ceiling light": {
1236
- "distance": "1.86 meters",
1237
  "closeness rank": 8
1238
  },
1239
  "door": {
1240
- "distance": "2.23 meters",
1241
  "closeness rank": 9
1242
  },
1243
  "table lamp": {
@@ -1245,11 +1245,11 @@
1245
  "closeness rank": 10
1246
  },
1247
  "printer": {
1248
- "distance": "2.76 meters",
1249
  "closeness rank": 11
1250
  },
1251
  "kettle": {
1252
- "distance": "3.31 meters",
1253
  "closeness rank": 12
1254
  },
1255
  "exhaust fan": {
@@ -1259,43 +1259,43 @@
1259
  },
1260
  "whiteboard": {
1261
  "table": {
1262
- "distance": "0.0 meters",
1263
  "closeness rank": 1
1264
  },
1265
  "kettle": {
1266
- "distance": "0.11 meters",
1267
  "closeness rank": 2
1268
  },
1269
  "table lamp": {
1270
- "distance": "0.17 meters",
1271
  "closeness rank": 3
1272
  },
1273
  "chair": {
1274
- "distance": "0.29 meters",
1275
  "closeness rank": 4
1276
  },
1277
  "printer": {
1278
- "distance": "0.51 meters",
1279
  "closeness rank": 5
1280
  },
1281
  "monitor": {
1282
- "distance": "0.54 meters",
1283
  "closeness rank": 6
1284
  },
1285
  "keyboard": {
1286
- "distance": "0.75 meters",
1287
  "closeness rank": 7
1288
  },
1289
  "computer tower": {
1290
- "distance": "1.1 meters",
1291
  "closeness rank": 8
1292
  },
1293
  "exhaust fan": {
1294
- "distance": "1.17 meters",
1295
  "closeness rank": 9
1296
  },
1297
  "ceiling light": {
1298
- "distance": "1.3 meters",
1299
  "closeness rank": 10
1300
  },
1301
  "computer mouse": {
@@ -1303,7 +1303,7 @@
1303
  "closeness rank": 11
1304
  },
1305
  "telephone": {
1306
- "distance": "2.6 meters",
1307
  "closeness rank": 12
1308
  },
1309
  "door": {
@@ -1317,27 +1317,27 @@
1317
  "closeness rank": 1
1318
  },
1319
  "ceiling light": {
1320
- "distance": "1.27 meters",
1321
  "closeness rank": 2
1322
  },
1323
  "table": {
1324
- "distance": "1.86 meters",
1325
  "closeness rank": 3
1326
  },
1327
  "computer tower": {
1328
- "distance": "2.23 meters",
1329
  "closeness rank": 4
1330
  },
1331
  "keyboard": {
1332
- "distance": "2.32 meters",
1333
  "closeness rank": 5
1334
  },
1335
  "computer mouse": {
1336
- "distance": "2.32 meters",
1337
  "closeness rank": 6
1338
  },
1339
  "monitor": {
1340
- "distance": "2.5 meters",
1341
  "closeness rank": 7
1342
  },
1343
  "whiteboard": {
@@ -1367,31 +1367,31 @@
1367
  },
1368
  "chair": {
1369
  "computer tower": {
1370
- "distance": "0.0 meters",
1371
  "closeness rank": 1
1372
  },
1373
  "keyboard": {
1374
- "distance": "0.0 meters",
1375
  "closeness rank": 2
1376
  },
1377
  "table": {
1378
- "distance": "0.0 meters",
1379
  "closeness rank": 3
1380
  },
1381
  "telephone": {
1382
- "distance": "0.0 meters",
1383
  "closeness rank": 4
1384
  },
1385
  "computer mouse": {
1386
- "distance": "0.02 meters",
1387
  "closeness rank": 5
1388
  },
1389
  "monitor": {
1390
- "distance": "0.15 meters",
1391
  "closeness rank": 6
1392
  },
1393
  "whiteboard": {
1394
- "distance": "0.29 meters",
1395
  "closeness rank": 7
1396
  },
1397
  "door": {
@@ -1399,45 +1399,45 @@
1399
  "closeness rank": 8
1400
  },
1401
  "table lamp": {
1402
- "distance": "0.47 meters",
1403
  "closeness rank": 9
1404
  },
1405
  "printer": {
1406
- "distance": "0.48 meters",
1407
  "closeness rank": 10
1408
  },
1409
  "kettle": {
1410
- "distance": "1.11 meters",
1411
  "closeness rank": 11
1412
  },
1413
  "ceiling light": {
1414
- "distance": "1.56 meters",
1415
  "closeness rank": 12
1416
  },
1417
  "exhaust fan": {
1418
- "distance": "2.33 meters",
1419
  "closeness rank": 13
1420
  }
1421
  },
1422
  "computer mouse": {
1423
  "keyboard": {
1424
- "distance": "0.0 meters",
1425
  "closeness rank": 1
1426
  },
1427
  "table": {
1428
- "distance": "0.0 meters",
1429
  "closeness rank": 2
1430
  },
1431
  "chair": {
1432
- "distance": "0.02 meters",
1433
  "closeness rank": 3
1434
  },
1435
  "monitor": {
1436
- "distance": "0.04 meters",
1437
  "closeness rank": 4
1438
  },
1439
  "computer tower": {
1440
- "distance": "0.32 meters",
1441
  "closeness rank": 5
1442
  },
1443
  "whiteboard": {
@@ -1445,15 +1445,15 @@
1445
  "closeness rank": 6
1446
  },
1447
  "telephone": {
1448
- "distance": "1.57 meters",
1449
  "closeness rank": 7
1450
  },
1451
  "ceiling light": {
1452
- "distance": "2.17 meters",
1453
  "closeness rank": 8
1454
  },
1455
  "door": {
1456
- "distance": "2.32 meters",
1457
  "closeness rank": 9
1458
  },
1459
  "table lamp": {
@@ -1461,11 +1461,11 @@
1461
  "closeness rank": 10
1462
  },
1463
  "printer": {
1464
- "distance": "3.6 meters",
1465
  "closeness rank": 11
1466
  },
1467
  "kettle": {
1468
- "distance": "4.19 meters",
1469
  "closeness rank": 12
1470
  },
1471
  "exhaust fan": {
@@ -1475,43 +1475,43 @@
1475
  },
1476
  "kettle": {
1477
  "whiteboard": {
1478
- "distance": "0.11 meters",
1479
  "closeness rank": 1
1480
  },
1481
  "printer": {
1482
- "distance": "0.5 meters",
1483
  "closeness rank": 2
1484
  },
1485
  "table": {
1486
- "distance": "0.57 meters",
1487
  "closeness rank": 3
1488
  },
1489
  "chair": {
1490
- "distance": "1.11 meters",
1491
  "closeness rank": 4
1492
  },
1493
  "monitor": {
1494
- "distance": "1.38 meters",
1495
  "closeness rank": 5
1496
  },
1497
  "keyboard": {
1498
- "distance": "1.8 meters",
1499
  "closeness rank": 6
1500
  },
1501
  "telephone": {
1502
- "distance": "2.39 meters",
1503
  "closeness rank": 7
1504
  },
1505
  "ceiling light": {
1506
- "distance": "2.78 meters",
1507
  "closeness rank": 8
1508
  },
1509
  "computer tower": {
1510
- "distance": "3.31 meters",
1511
  "closeness rank": 9
1512
  },
1513
  "computer mouse": {
1514
- "distance": "4.19 meters",
1515
  "closeness rank": 10
1516
  },
1517
  "door": {
@@ -1529,27 +1529,27 @@
1529
  },
1530
  "telephone": {
1531
  "chair": {
1532
- "distance": "0.0 meters",
1533
  "closeness rank": 1
1534
  },
1535
  "table": {
1536
- "distance": "0.0 meters",
1537
  "closeness rank": 2
1538
  },
1539
  "keyboard": {
1540
- "distance": "0.09 meters",
1541
  "closeness rank": 3
1542
  },
1543
  "monitor": {
1544
- "distance": "0.11 meters",
1545
  "closeness rank": 4
1546
  },
1547
  "computer tower": {
1548
- "distance": "0.82 meters",
1549
  "closeness rank": 5
1550
  },
1551
  "computer mouse": {
1552
- "distance": "1.57 meters",
1553
  "closeness rank": 6
1554
  },
1555
  "printer": {
@@ -1557,15 +1557,15 @@
1557
  "closeness rank": 7
1558
  },
1559
  "ceiling light": {
1560
- "distance": "2.15 meters",
1561
  "closeness rank": 8
1562
  },
1563
  "kettle": {
1564
- "distance": "2.39 meters",
1565
  "closeness rank": 9
1566
  },
1567
  "whiteboard": {
1568
- "distance": "2.6 meters",
1569
  "closeness rank": 10
1570
  },
1571
  "door": {
@@ -1573,37 +1573,37 @@
1573
  "closeness rank": 11
1574
  },
1575
  "table lamp": {
1576
- "distance": "9.18 meters",
1577
  "closeness rank": 12
1578
  },
1579
  "exhaust fan": {
1580
- "distance": "9.85 meters",
1581
  "closeness rank": 13
1582
  }
1583
  },
1584
  "printer": {
1585
  "table": {
1586
- "distance": "0.01 meters",
1587
  "closeness rank": 1
1588
  },
1589
  "chair": {
1590
- "distance": "0.48 meters",
1591
  "closeness rank": 2
1592
  },
1593
  "kettle": {
1594
- "distance": "0.5 meters",
1595
  "closeness rank": 3
1596
  },
1597
  "whiteboard": {
1598
- "distance": "0.51 meters",
1599
  "closeness rank": 4
1600
  },
1601
  "monitor": {
1602
- "distance": "0.72 meters",
1603
  "closeness rank": 5
1604
  },
1605
  "keyboard": {
1606
- "distance": "1.15 meters",
1607
  "closeness rank": 6
1608
  },
1609
  "telephone": {
@@ -1611,15 +1611,15 @@
1611
  "closeness rank": 7
1612
  },
1613
  "ceiling light": {
1614
- "distance": "1.84 meters",
1615
  "closeness rank": 8
1616
  },
1617
  "computer tower": {
1618
- "distance": "2.76 meters",
1619
  "closeness rank": 9
1620
  },
1621
  "computer mouse": {
1622
- "distance": "3.6 meters",
1623
  "closeness rank": 10
1624
  },
1625
  "door": {
@@ -1627,11 +1627,11 @@
1627
  "closeness rank": 11
1628
  },
1629
  "table lamp": {
1630
- "distance": "10.43 meters",
1631
  "closeness rank": 12
1632
  },
1633
  "exhaust fan": {
1634
- "distance": "11.17 meters",
1635
  "closeness rank": 13
1636
  }
1637
  },
@@ -1645,61 +1645,61 @@
1645
  "closeness rank": 2
1646
  },
1647
  "door": {
1648
- "distance": "1.27 meters",
1649
  "closeness rank": 3
1650
  },
1651
  "whiteboard": {
1652
- "distance": "1.3 meters",
1653
  "closeness rank": 4
1654
  },
1655
  "chair": {
1656
- "distance": "1.56 meters",
1657
  "closeness rank": 5
1658
  },
1659
  "monitor": {
1660
- "distance": "1.74 meters",
1661
  "closeness rank": 6
1662
  },
1663
  "printer": {
1664
- "distance": "1.84 meters",
1665
  "closeness rank": 7
1666
  },
1667
  "computer tower": {
1668
- "distance": "1.86 meters",
1669
  "closeness rank": 8
1670
  },
1671
  "table": {
1672
- "distance": "1.87 meters",
1673
  "closeness rank": 9
1674
  },
1675
  "telephone": {
1676
- "distance": "2.15 meters",
1677
  "closeness rank": 10
1678
  },
1679
  "keyboard": {
1680
- "distance": "2.17 meters",
1681
  "closeness rank": 11
1682
  },
1683
  "computer mouse": {
1684
- "distance": "2.17 meters",
1685
  "closeness rank": 12
1686
  },
1687
  "kettle": {
1688
- "distance": "2.78 meters",
1689
  "closeness rank": 13
1690
  }
1691
  },
1692
  "table lamp": {
1693
  "table": {
1694
- "distance": "0.0 meters",
1695
  "closeness rank": 1
1696
  },
1697
  "whiteboard": {
1698
- "distance": "0.17 meters",
1699
  "closeness rank": 2
1700
  },
1701
  "chair": {
1702
- "distance": "0.47 meters",
1703
  "closeness rank": 3
1704
  },
1705
  "ceiling light": {
@@ -1711,11 +1711,11 @@
1711
  "closeness rank": 5
1712
  },
1713
  "monitor": {
1714
- "distance": "1.75 meters",
1715
  "closeness rank": 6
1716
  },
1717
  "keyboard": {
1718
- "distance": "1.95 meters",
1719
  "closeness rank": 7
1720
  },
1721
  "computer tower": {
@@ -1731,11 +1731,11 @@
1731
  "closeness rank": 10
1732
  },
1733
  "telephone": {
1734
- "distance": "9.18 meters",
1735
  "closeness rank": 11
1736
  },
1737
  "printer": {
1738
- "distance": "10.43 meters",
1739
  "closeness rank": 12
1740
  },
1741
  "kettle": {
@@ -1744,20 +1744,5 @@
1744
  }
1745
  }
1746
  },
1747
- "appearance order": [
1748
- "whiteboard",
1749
- "table lamp",
1750
- "table",
1751
- "exhaust fan",
1752
- "chair",
1753
- "computer tower",
1754
- "ceiling light",
1755
- "monitor",
1756
- "keyboard",
1757
- "door",
1758
- "computer mouse",
1759
- "telephone",
1760
- "printer",
1761
- "kettle"
1762
- ]
1763
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
989
  "closest classes distance meters from": {
990
  "table": {
991
  "chair": {
992
+ "distance": "5.16 meters",
993
  "closeness rank": 1
994
  },
995
  "computer mouse": {
996
+ "distance": "1.99 meters",
997
  "closeness rank": 2
998
  },
999
  "computer tower": {
1000
+ "distance": "5.17 meters",
1001
  "closeness rank": 3
1002
  },
1003
  "keyboard": {
1004
+ "distance": "4.69 meters",
1005
  "closeness rank": 4
1006
  },
1007
  "monitor": {
1008
+ "distance": "3.39 meters",
1009
  "closeness rank": 5
1010
  },
1011
  "table lamp": {
1012
+ "distance": "5.35 meters",
1013
  "closeness rank": 6
1014
  },
1015
  "telephone": {
1016
+ "distance": "3.26 meters",
1017
  "closeness rank": 7
1018
  },
1019
  "whiteboard": {
1020
+ "distance": "0.38 meters",
1021
  "closeness rank": 8
1022
  },
1023
  "printer": {
1024
+ "distance": "4.11 meters",
1025
  "closeness rank": 9
1026
  },
1027
  "kettle": {
1028
+ "distance": "4.72 meters",
1029
  "closeness rank": 10
1030
  },
1031
  "exhaust fan": {
1032
+ "distance": "6.38 meters",
1033
  "closeness rank": 11
1034
  },
1035
  "door": {
1036
+ "distance": "4.44 meters",
1037
  "closeness rank": 12
1038
  },
1039
  "ceiling light": {
1040
+ "distance": "5.72 meters",
1041
  "closeness rank": 13
1042
  }
1043
  },
 
1051
  "closeness rank": 2
1052
  },
1053
  "whiteboard": {
1054
+ "distance": "5.31 meters",
1055
  "closeness rank": 3
1056
  },
1057
  "table": {
1058
+ "distance": "6.38 meters",
1059
  "closeness rank": 4
1060
  },
1061
  "chair": {
1062
+ "distance": "7.44 meters",
1063
  "closeness rank": 5
1064
  },
1065
  "monitor": {
1066
+ "distance": "9.43 meters",
1067
  "closeness rank": 6
1068
  },
1069
  "keyboard": {
1070
+ "distance": "5.04 meters",
1071
  "closeness rank": 7
1072
  },
1073
  "computer tower": {
 
1083
  "closeness rank": 10
1084
  },
1085
  "telephone": {
1086
+ "distance": "9.87 meters",
1087
  "closeness rank": 11
1088
  },
1089
  "printer": {
1090
+ "distance": "11.22 meters",
1091
  "closeness rank": 12
1092
  },
1093
  "kettle": {
 
1097
  },
1098
  "monitor": {
1099
  "keyboard": {
1100
+ "distance": "9.2 meters",
1101
  "closeness rank": 1
1102
  },
1103
  "table": {
1104
+ "distance": "3.39 meters",
1105
  "closeness rank": 2
1106
  },
1107
  "computer tower": {
1108
+ "distance": "9.45 meters",
1109
  "closeness rank": 3
1110
  },
1111
  "computer mouse": {
1112
+ "distance": "5.94 meters",
1113
  "closeness rank": 4
1114
  },
1115
  "telephone": {
1116
+ "distance": "0.56 meters",
1117
  "closeness rank": 5
1118
  },
1119
  "chair": {
1120
+ "distance": "9.54 meters",
1121
  "closeness rank": 6
1122
  },
1123
  "whiteboard": {
1124
+ "distance": "3.66 meters",
1125
  "closeness rank": 7
1126
  },
1127
  "printer": {
1128
+ "distance": "2.45 meters",
1129
  "closeness rank": 8
1130
  },
1131
  "kettle": {
1132
+ "distance": "3.13 meters",
1133
  "closeness rank": 9
1134
  },
1135
  "ceiling light": {
1136
+ "distance": "8.92 meters",
1137
  "closeness rank": 10
1138
  },
1139
  "table lamp": {
1140
+ "distance": "8.86 meters",
1141
  "closeness rank": 11
1142
  },
1143
  "door": {
1144
+ "distance": "8.44 meters",
1145
  "closeness rank": 12
1146
  },
1147
  "exhaust fan": {
1148
+ "distance": "9.43 meters",
1149
  "closeness rank": 13
1150
  }
1151
  },
1152
  "keyboard": {
1153
  "chair": {
1154
+ "distance": "2.09 meters",
1155
  "closeness rank": 1
1156
  },
1157
  "computer mouse": {
1158
+ "distance": "3.6 meters",
1159
  "closeness rank": 2
1160
  },
1161
  "monitor": {
1162
+ "distance": "9.2 meters",
1163
  "closeness rank": 3
1164
  },
1165
  "table": {
1166
+ "distance": "4.69 meters",
1167
  "closeness rank": 4
1168
  },
1169
  "computer tower": {
1170
+ "distance": "1.33 meters",
1171
  "closeness rank": 5
1172
  },
1173
  "telephone": {
1174
+ "distance": "9.12 meters",
1175
  "closeness rank": 6
1176
  },
1177
  "whiteboard": {
1178
+ "distance": "4.8 meters",
1179
  "closeness rank": 7
1180
  },
1181
  "printer": {
1182
+ "distance": "9.65 meters",
1183
  "closeness rank": 8
1184
  },
1185
  "kettle": {
1186
+ "distance": "10.23 meters",
1187
  "closeness rank": 9
1188
  },
1189
  "table lamp": {
1190
+ "distance": "3.63 meters",
1191
  "closeness rank": 10
1192
  },
1193
  "ceiling light": {
1194
+ "distance": "4.4 meters",
1195
  "closeness rank": 11
1196
  },
1197
  "door": {
1198
+ "distance": "3.14 meters",
1199
  "closeness rank": 12
1200
  },
1201
  "exhaust fan": {
1202
+ "distance": "5.04 meters",
1203
  "closeness rank": 13
1204
  }
1205
  },
1206
  "computer tower": {
1207
  "chair": {
1208
+ "distance": "3.84 meters",
1209
  "closeness rank": 1
1210
  },
1211
  "table": {
1212
+ "distance": "5.17 meters",
1213
  "closeness rank": 2
1214
  },
1215
  "monitor": {
1216
+ "distance": "9.45 meters",
1217
  "closeness rank": 3
1218
  },
1219
  "keyboard": {
1220
+ "distance": "1.33 meters",
1221
  "closeness rank": 4
1222
  },
1223
  "computer mouse": {
1224
+ "distance": "3.43 meters",
1225
  "closeness rank": 5
1226
  },
1227
  "telephone": {
1228
+ "distance": "9.53 meters",
1229
  "closeness rank": 6
1230
  },
1231
  "whiteboard": {
1232
+ "distance": "4.83 meters",
1233
  "closeness rank": 7
1234
  },
1235
  "ceiling light": {
1236
+ "distance": "3.04 meters",
1237
  "closeness rank": 8
1238
  },
1239
  "door": {
1240
+ "distance": "4.88 meters",
1241
  "closeness rank": 9
1242
  },
1243
  "table lamp": {
 
1245
  "closeness rank": 10
1246
  },
1247
  "printer": {
1248
+ "distance": "10.37 meters",
1249
  "closeness rank": 11
1250
  },
1251
  "kettle": {
1252
+ "distance": "11.01 meters",
1253
  "closeness rank": 12
1254
  },
1255
  "exhaust fan": {
 
1259
  },
1260
  "whiteboard": {
1261
  "table": {
1262
+ "distance": "0.38 meters",
1263
  "closeness rank": 1
1264
  },
1265
  "kettle": {
1266
+ "distance": "5.83 meters",
1267
  "closeness rank": 2
1268
  },
1269
  "table lamp": {
1270
+ "distance": "4.42 meters",
1271
  "closeness rank": 3
1272
  },
1273
  "chair": {
1274
+ "distance": "5.91 meters",
1275
  "closeness rank": 4
1276
  },
1277
  "printer": {
1278
+ "distance": "5.14 meters",
1279
  "closeness rank": 5
1280
  },
1281
  "monitor": {
1282
+ "distance": "3.66 meters",
1283
  "closeness rank": 6
1284
  },
1285
  "keyboard": {
1286
+ "distance": "4.8 meters",
1287
  "closeness rank": 7
1288
  },
1289
  "computer tower": {
1290
+ "distance": "4.83 meters",
1291
  "closeness rank": 8
1292
  },
1293
  "exhaust fan": {
1294
+ "distance": "5.31 meters",
1295
  "closeness rank": 9
1296
  },
1297
  "ceiling light": {
1298
+ "distance": "4.73 meters",
1299
  "closeness rank": 10
1300
  },
1301
  "computer mouse": {
 
1303
  "closeness rank": 11
1304
  },
1305
  "telephone": {
1306
+ "distance": "3.85 meters",
1307
  "closeness rank": 12
1308
  },
1309
  "door": {
 
1317
  "closeness rank": 1
1318
  },
1319
  "ceiling light": {
1320
+ "distance": "7.33 meters",
1321
  "closeness rank": 2
1322
  },
1323
  "table": {
1324
+ "distance": "4.44 meters",
1325
  "closeness rank": 3
1326
  },
1327
  "computer tower": {
1328
+ "distance": "4.88 meters",
1329
  "closeness rank": 4
1330
  },
1331
  "keyboard": {
1332
+ "distance": "3.14 meters",
1333
  "closeness rank": 5
1334
  },
1335
  "computer mouse": {
1336
+ "distance": "5.27 meters",
1337
  "closeness rank": 6
1338
  },
1339
  "monitor": {
1340
+ "distance": "8.44 meters",
1341
  "closeness rank": 7
1342
  },
1343
  "whiteboard": {
 
1367
  },
1368
  "chair": {
1369
  "computer tower": {
1370
+ "distance": "3.84 meters",
1371
  "closeness rank": 1
1372
  },
1373
  "keyboard": {
1374
+ "distance": "2.09 meters",
1375
  "closeness rank": 2
1376
  },
1377
  "table": {
1378
+ "distance": "5.16 meters",
1379
  "closeness rank": 3
1380
  },
1381
  "telephone": {
1382
+ "distance": "9.19 meters",
1383
  "closeness rank": 4
1384
  },
1385
  "computer mouse": {
1386
+ "distance": "5.25 meters",
1387
  "closeness rank": 5
1388
  },
1389
  "monitor": {
1390
+ "distance": "9.54 meters",
1391
  "closeness rank": 6
1392
  },
1393
  "whiteboard": {
1394
+ "distance": "5.91 meters",
1395
  "closeness rank": 7
1396
  },
1397
  "door": {
 
1399
  "closeness rank": 8
1400
  },
1401
  "table lamp": {
1402
+ "distance": "6.15 meters",
1403
  "closeness rank": 9
1404
  },
1405
  "printer": {
1406
+ "distance": "9.07 meters",
1407
  "closeness rank": 10
1408
  },
1409
  "kettle": {
1410
+ "distance": "9.53 meters",
1411
  "closeness rank": 11
1412
  },
1413
  "ceiling light": {
1414
+ "distance": "6.72 meters",
1415
  "closeness rank": 12
1416
  },
1417
  "exhaust fan": {
1418
+ "distance": "7.44 meters",
1419
  "closeness rank": 13
1420
  }
1421
  },
1422
  "computer mouse": {
1423
  "keyboard": {
1424
+ "distance": "3.6 meters",
1425
  "closeness rank": 1
1426
  },
1427
  "table": {
1428
+ "distance": "1.99 meters",
1429
  "closeness rank": 2
1430
  },
1431
  "chair": {
1432
+ "distance": "5.25 meters",
1433
  "closeness rank": 3
1434
  },
1435
  "monitor": {
1436
+ "distance": "5.94 meters",
1437
  "closeness rank": 4
1438
  },
1439
  "computer tower": {
1440
+ "distance": "3.43 meters",
1441
  "closeness rank": 5
1442
  },
1443
  "whiteboard": {
 
1445
  "closeness rank": 6
1446
  },
1447
  "telephone": {
1448
+ "distance": "6.09 meters",
1449
  "closeness rank": 7
1450
  },
1451
  "ceiling light": {
1452
+ "distance": "3.78 meters",
1453
  "closeness rank": 8
1454
  },
1455
  "door": {
1456
+ "distance": "5.27 meters",
1457
  "closeness rank": 9
1458
  },
1459
  "table lamp": {
 
1461
  "closeness rank": 10
1462
  },
1463
  "printer": {
1464
+ "distance": "7.21 meters",
1465
  "closeness rank": 11
1466
  },
1467
  "kettle": {
1468
+ "distance": "7.88 meters",
1469
  "closeness rank": 12
1470
  },
1471
  "exhaust fan": {
 
1475
  },
1476
  "kettle": {
1477
  "whiteboard": {
1478
+ "distance": "5.83 meters",
1479
  "closeness rank": 1
1480
  },
1481
  "printer": {
1482
+ "distance": "0.59 meters",
1483
  "closeness rank": 2
1484
  },
1485
  "table": {
1486
+ "distance": "4.72 meters",
1487
  "closeness rank": 3
1488
  },
1489
  "chair": {
1490
+ "distance": "9.53 meters",
1491
  "closeness rank": 4
1492
  },
1493
  "monitor": {
1494
+ "distance": "3.13 meters",
1495
  "closeness rank": 5
1496
  },
1497
  "keyboard": {
1498
+ "distance": "10.23 meters",
1499
  "closeness rank": 6
1500
  },
1501
  "telephone": {
1502
+ "distance": "2.42 meters",
1503
  "closeness rank": 7
1504
  },
1505
  "ceiling light": {
1506
+ "distance": "11.38 meters",
1507
  "closeness rank": 8
1508
  },
1509
  "computer tower": {
1510
+ "distance": "11.01 meters",
1511
  "closeness rank": 9
1512
  },
1513
  "computer mouse": {
1514
+ "distance": "7.88 meters",
1515
  "closeness rank": 10
1516
  },
1517
  "door": {
 
1529
  },
1530
  "telephone": {
1531
  "chair": {
1532
+ "distance": "9.19 meters",
1533
  "closeness rank": 1
1534
  },
1535
  "table": {
1536
+ "distance": "3.26 meters",
1537
  "closeness rank": 2
1538
  },
1539
  "keyboard": {
1540
+ "distance": "9.12 meters",
1541
  "closeness rank": 3
1542
  },
1543
  "monitor": {
1544
+ "distance": "0.56 meters",
1545
  "closeness rank": 4
1546
  },
1547
  "computer tower": {
1548
+ "distance": "9.53 meters",
1549
  "closeness rank": 5
1550
  },
1551
  "computer mouse": {
1552
+ "distance": "6.09 meters",
1553
  "closeness rank": 6
1554
  },
1555
  "printer": {
 
1557
  "closeness rank": 7
1558
  },
1559
  "ceiling light": {
1560
+ "distance": "9.3 meters",
1561
  "closeness rank": 8
1562
  },
1563
  "kettle": {
1564
+ "distance": "2.42 meters",
1565
  "closeness rank": 9
1566
  },
1567
  "whiteboard": {
1568
+ "distance": "3.85 meters",
1569
  "closeness rank": 10
1570
  },
1571
  "door": {
 
1573
  "closeness rank": 11
1574
  },
1575
  "table lamp": {
1576
+ "distance": "9.21 meters",
1577
  "closeness rank": 12
1578
  },
1579
  "exhaust fan": {
1580
+ "distance": "9.87 meters",
1581
  "closeness rank": 13
1582
  }
1583
  },
1584
  "printer": {
1585
  "table": {
1586
+ "distance": "4.11 meters",
1587
  "closeness rank": 1
1588
  },
1589
  "chair": {
1590
+ "distance": "9.07 meters",
1591
  "closeness rank": 2
1592
  },
1593
  "kettle": {
1594
+ "distance": "0.59 meters",
1595
  "closeness rank": 3
1596
  },
1597
  "whiteboard": {
1598
+ "distance": "5.14 meters",
1599
  "closeness rank": 4
1600
  },
1601
  "monitor": {
1602
+ "distance": "2.45 meters",
1603
  "closeness rank": 5
1604
  },
1605
  "keyboard": {
1606
+ "distance": "9.65 meters",
1607
  "closeness rank": 6
1608
  },
1609
  "telephone": {
 
1611
  "closeness rank": 7
1612
  },
1613
  "ceiling light": {
1614
+ "distance": "10.56 meters",
1615
  "closeness rank": 8
1616
  },
1617
  "computer tower": {
1618
+ "distance": "10.37 meters",
1619
  "closeness rank": 9
1620
  },
1621
  "computer mouse": {
1622
+ "distance": "7.21 meters",
1623
  "closeness rank": 10
1624
  },
1625
  "door": {
 
1627
  "closeness rank": 11
1628
  },
1629
  "table lamp": {
1630
+ "distance": "10.49 meters",
1631
  "closeness rank": 12
1632
  },
1633
  "exhaust fan": {
1634
+ "distance": "11.22 meters",
1635
  "closeness rank": 13
1636
  }
1637
  },
 
1645
  "closeness rank": 2
1646
  },
1647
  "door": {
1648
+ "distance": "7.33 meters",
1649
  "closeness rank": 3
1650
  },
1651
  "whiteboard": {
1652
+ "distance": "4.73 meters",
1653
  "closeness rank": 4
1654
  },
1655
  "chair": {
1656
+ "distance": "6.72 meters",
1657
  "closeness rank": 5
1658
  },
1659
  "monitor": {
1660
+ "distance": "8.92 meters",
1661
  "closeness rank": 6
1662
  },
1663
  "printer": {
1664
+ "distance": "10.56 meters",
1665
  "closeness rank": 7
1666
  },
1667
  "computer tower": {
1668
+ "distance": "3.04 meters",
1669
  "closeness rank": 8
1670
  },
1671
  "table": {
1672
+ "distance": "5.72 meters",
1673
  "closeness rank": 9
1674
  },
1675
  "telephone": {
1676
+ "distance": "9.3 meters",
1677
  "closeness rank": 10
1678
  },
1679
  "keyboard": {
1680
+ "distance": "4.4 meters",
1681
  "closeness rank": 11
1682
  },
1683
  "computer mouse": {
1684
+ "distance": "3.78 meters",
1685
  "closeness rank": 12
1686
  },
1687
  "kettle": {
1688
+ "distance": "11.38 meters",
1689
  "closeness rank": 13
1690
  }
1691
  },
1692
  "table lamp": {
1693
  "table": {
1694
+ "distance": "5.35 meters",
1695
  "closeness rank": 1
1696
  },
1697
  "whiteboard": {
1698
+ "distance": "4.42 meters",
1699
  "closeness rank": 2
1700
  },
1701
  "chair": {
1702
+ "distance": "6.15 meters",
1703
  "closeness rank": 3
1704
  },
1705
  "ceiling light": {
 
1711
  "closeness rank": 5
1712
  },
1713
  "monitor": {
1714
+ "distance": "8.86 meters",
1715
  "closeness rank": 6
1716
  },
1717
  "keyboard": {
1718
+ "distance": "3.63 meters",
1719
  "closeness rank": 7
1720
  },
1721
  "computer tower": {
 
1731
  "closeness rank": 10
1732
  },
1733
  "telephone": {
1734
+ "distance": "9.21 meters",
1735
  "closeness rank": 11
1736
  },
1737
  "printer": {
1738
+ "distance": "10.49 meters",
1739
  "closeness rank": 12
1740
  },
1741
  "kettle": {
 
1744
  }
1745
  }
1746
  },
1747
+ "appearance order": ["whiteboard", "table lamp", "table", "exhaust fan", "chair", "computer tower", "ceiling light", "monitor", "keyboard", "door", "computer mouse", "telephone", "printer", "kettle"]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1748
  }
data/spatial codes/ground truth/explicit/5942004064.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -336,11 +336,11 @@
336
  "closest classes distance meters from": {
337
  "door": {
338
  "basket": {
339
- "distance": "0.07 meters",
340
  "closeness rank": 1
341
  },
342
  "heater": {
343
- "distance": "0.09 meters",
344
  "closeness rank": 2
345
  },
346
  "toilet": {
@@ -348,39 +348,39 @@
348
  "closeness rank": 3
349
  },
350
  "bed": {
351
- "distance": "0.29 meters",
352
  "closeness rank": 4
353
  },
354
  "blanket": {
355
- "distance": "0.38 meters",
356
  "closeness rank": 5
357
  },
358
  "tv": {
359
- "distance": "0.67 meters",
360
  "closeness rank": 6
361
  },
362
  "table": {
363
- "distance": "0.83 meters",
364
  "closeness rank": 7
365
  },
366
  "plant": {
367
- "distance": "0.92 meters",
368
  "closeness rank": 8
369
  },
370
  "pillow": {
371
- "distance": "1.03 meters",
372
  "closeness rank": 9
373
  },
374
  "chair": {
375
- "distance": "1.15 meters",
376
  "closeness rank": 10
377
  },
378
  "ceiling light": {
379
- "distance": "1.27 meters",
380
  "closeness rank": 11
381
  },
382
  "sofa": {
383
- "distance": "1.92 meters",
384
  "closeness rank": 12
385
  }
386
  },
@@ -394,11 +394,11 @@
394
  "closeness rank": 2
395
  },
396
  "heater": {
397
- "distance": "0.04 meters",
398
  "closeness rank": 3
399
  },
400
  "table": {
401
- "distance": "0.1 meters",
402
  "closeness rank": 4
403
  },
404
  "chair": {
@@ -406,7 +406,7 @@
406
  "closeness rank": 5
407
  },
408
  "tv": {
409
- "distance": "0.47 meters",
410
  "closeness rank": 6
411
  },
412
  "ceiling light": {
@@ -414,23 +414,23 @@
414
  "closeness rank": 7
415
  },
416
  "blanket": {
417
- "distance": "1.67 meters",
418
  "closeness rank": 8
419
  },
420
  "bed": {
421
- "distance": "1.68 meters",
422
  "closeness rank": 9
423
  },
424
  "door": {
425
- "distance": "1.92 meters",
426
  "closeness rank": 10
427
  },
428
  "basket": {
429
- "distance": "3.5 meters",
430
  "closeness rank": 11
431
  },
432
  "toilet": {
433
- "distance": "4.16 meters",
434
  "closeness rank": 12
435
  }
436
  },
@@ -440,7 +440,7 @@
440
  "closeness rank": 1
441
  },
442
  "basket": {
443
- "distance": "0.58 meters",
444
  "closeness rank": 2
445
  },
446
  "heater": {
@@ -456,45 +456,45 @@
456
  "closeness rank": 5
457
  },
458
  "pillow": {
459
- "distance": "1.55 meters",
460
  "closeness rank": 6
461
  },
462
  "tv": {
463
- "distance": "2.92 meters",
464
  "closeness rank": 7
465
  },
466
  "plant": {
467
- "distance": "3.03 meters",
468
  "closeness rank": 8
469
  },
470
  "table": {
471
- "distance": "3.1 meters",
472
  "closeness rank": 9
473
  },
474
  "ceiling light": {
475
- "distance": "4.01 meters",
476
  "closeness rank": 10
477
  },
478
  "sofa": {
479
- "distance": "4.16 meters",
480
  "closeness rank": 11
481
  },
482
  "chair": {
483
- "distance": "4.46 meters",
484
  "closeness rank": 12
485
  }
486
  },
487
  "pillow": {
488
  "bed": {
489
- "distance": "0.0 meters",
490
  "closeness rank": 1
491
  },
492
  "blanket": {
493
- "distance": "0.0 meters",
494
  "closeness rank": 2
495
  },
496
  "plant": {
497
- "distance": "0.0 meters",
498
  "closeness rank": 3
499
  },
500
  "sofa": {
@@ -502,45 +502,45 @@
502
  "closeness rank": 4
503
  },
504
  "heater": {
505
- "distance": "0.09 meters",
506
  "closeness rank": 5
507
  },
508
  "table": {
509
- "distance": "0.36 meters",
510
  "closeness rank": 6
511
  },
512
  "tv": {
513
- "distance": "0.43 meters",
514
  "closeness rank": 7
515
  },
516
  "chair": {
517
- "distance": "0.6 meters",
518
  "closeness rank": 8
519
  },
520
  "basket": {
521
- "distance": "0.62 meters",
522
  "closeness rank": 9
523
  },
524
  "door": {
525
- "distance": "1.03 meters",
526
  "closeness rank": 10
527
  },
528
  "toilet": {
529
- "distance": "1.55 meters",
530
  "closeness rank": 11
531
  },
532
  "ceiling light": {
533
- "distance": "1.8 meters",
534
  "closeness rank": 12
535
  }
536
  },
537
  "chair": {
538
  "table": {
539
- "distance": "0.0 meters",
540
  "closeness rank": 1
541
  },
542
  "plant": {
543
- "distance": "0.29 meters",
544
  "closeness rank": 2
545
  },
546
  "sofa": {
@@ -548,15 +548,15 @@
548
  "closeness rank": 3
549
  },
550
  "pillow": {
551
- "distance": "0.6 meters",
552
  "closeness rank": 4
553
  },
554
  "door": {
555
- "distance": "1.15 meters",
556
  "closeness rank": 5
557
  },
558
  "heater": {
559
- "distance": "1.24 meters",
560
  "closeness rank": 6
561
  },
562
  "tv": {
@@ -564,7 +564,7 @@
564
  "closeness rank": 7
565
  },
566
  "ceiling light": {
567
- "distance": "1.51 meters",
568
  "closeness rank": 8
569
  },
570
  "blanket": {
@@ -580,7 +580,7 @@
580
  "closeness rank": 11
581
  },
582
  "toilet": {
583
- "distance": "4.46 meters",
584
  "closeness rank": 12
585
  }
586
  },
@@ -590,19 +590,19 @@
590
  "closeness rank": 1
591
  },
592
  "sofa": {
593
- "distance": "0.04 meters",
594
  "closeness rank": 2
595
  },
596
  "pillow": {
597
- "distance": "0.09 meters",
598
  "closeness rank": 3
599
  },
600
  "door": {
601
- "distance": "0.09 meters",
602
  "closeness rank": 4
603
  },
604
  "plant": {
605
- "distance": "0.11 meters",
606
  "closeness rank": 5
607
  },
608
  "bed": {
@@ -614,7 +614,7 @@
614
  "closeness rank": 7
615
  },
616
  "table": {
617
- "distance": "0.58 meters",
618
  "closeness rank": 8
619
  },
620
  "toilet": {
@@ -622,7 +622,7 @@
622
  "closeness rank": 9
623
  },
624
  "chair": {
625
- "distance": "1.24 meters",
626
  "closeness rank": 10
627
  },
628
  "tv": {
@@ -630,7 +630,7 @@
630
  "closeness rank": 11
631
  },
632
  "ceiling light": {
633
- "distance": "2.66 meters",
634
  "closeness rank": 12
635
  }
636
  },
@@ -640,7 +640,7 @@
640
  "closeness rank": 1
641
  },
642
  "door": {
643
- "distance": "0.07 meters",
644
  "closeness rank": 2
645
  },
646
  "bed": {
@@ -652,19 +652,19 @@
652
  "closeness rank": 4
653
  },
654
  "toilet": {
655
- "distance": "0.58 meters",
656
  "closeness rank": 5
657
  },
658
  "pillow": {
659
- "distance": "0.62 meters",
660
  "closeness rank": 6
661
  },
662
  "table": {
663
- "distance": "2.15 meters",
664
  "closeness rank": 7
665
  },
666
  "plant": {
667
- "distance": "2.16 meters",
668
  "closeness rank": 8
669
  },
670
  "tv": {
@@ -672,11 +672,11 @@
672
  "closeness rank": 9
673
  },
674
  "ceiling light": {
675
- "distance": "3.38 meters",
676
  "closeness rank": 10
677
  },
678
  "sofa": {
679
- "distance": "3.5 meters",
680
  "closeness rank": 11
681
  },
682
  "chair": {
@@ -690,7 +690,7 @@
690
  "closeness rank": 1
691
  },
692
  "pillow": {
693
- "distance": "0.0 meters",
694
  "closeness rank": 2
695
  },
696
  "basket": {
@@ -702,7 +702,7 @@
702
  "closeness rank": 4
703
  },
704
  "door": {
705
- "distance": "0.29 meters",
706
  "closeness rank": 5
707
  },
708
  "table": {
@@ -710,7 +710,7 @@
710
  "closeness rank": 6
711
  },
712
  "plant": {
713
- "distance": "0.42 meters",
714
  "closeness rank": 7
715
  },
716
  "toilet": {
@@ -722,7 +722,7 @@
722
  "closeness rank": 9
723
  },
724
  "sofa": {
725
- "distance": "1.68 meters",
726
  "closeness rank": 10
727
  },
728
  "ceiling light": {
@@ -740,15 +740,15 @@
740
  "closeness rank": 1
741
  },
742
  "pillow": {
743
- "distance": "0.43 meters",
744
  "closeness rank": 2
745
  },
746
  "sofa": {
747
- "distance": "0.47 meters",
748
  "closeness rank": 3
749
  },
750
  "door": {
751
- "distance": "0.67 meters",
752
  "closeness rank": 4
753
  },
754
  "chair": {
@@ -764,7 +764,7 @@
764
  "closeness rank": 7
765
  },
766
  "table": {
767
- "distance": "1.55 meters",
768
  "closeness rank": 8
769
  },
770
  "ceiling light": {
@@ -780,13 +780,13 @@
780
  "closeness rank": 11
781
  },
782
  "toilet": {
783
- "distance": "2.92 meters",
784
  "closeness rank": 12
785
  }
786
  },
787
  "plant": {
788
  "pillow": {
789
- "distance": "0.0 meters",
790
  "closeness rank": 1
791
  },
792
  "sofa": {
@@ -798,57 +798,57 @@
798
  "closeness rank": 3
799
  },
800
  "table": {
801
- "distance": "0.07 meters",
802
  "closeness rank": 4
803
  },
804
  "heater": {
805
- "distance": "0.11 meters",
806
  "closeness rank": 5
807
  },
808
  "chair": {
809
- "distance": "0.29 meters",
810
  "closeness rank": 6
811
  },
812
  "bed": {
813
- "distance": "0.42 meters",
814
  "closeness rank": 7
815
  },
816
  "blanket": {
817
- "distance": "0.49 meters",
818
  "closeness rank": 8
819
  },
820
  "ceiling light": {
821
- "distance": "0.84 meters",
822
  "closeness rank": 9
823
  },
824
  "door": {
825
- "distance": "0.92 meters",
826
  "closeness rank": 10
827
  },
828
  "basket": {
829
- "distance": "2.16 meters",
830
  "closeness rank": 11
831
  },
832
  "toilet": {
833
- "distance": "3.03 meters",
834
  "closeness rank": 12
835
  }
836
  },
837
  "table": {
838
  "chair": {
839
- "distance": "0.0 meters",
840
  "closeness rank": 1
841
  },
842
  "plant": {
843
- "distance": "0.07 meters",
844
  "closeness rank": 2
845
  },
846
  "sofa": {
847
- "distance": "0.1 meters",
848
  "closeness rank": 3
849
  },
850
  "pillow": {
851
- "distance": "0.36 meters",
852
  "closeness rank": 4
853
  },
854
  "bed": {
@@ -860,15 +860,15 @@
860
  "closeness rank": 6
861
  },
862
  "heater": {
863
- "distance": "0.58 meters",
864
  "closeness rank": 7
865
  },
866
  "door": {
867
- "distance": "0.83 meters",
868
  "closeness rank": 8
869
  },
870
  "tv": {
871
- "distance": "1.55 meters",
872
  "closeness rank": 9
873
  },
874
  "ceiling light": {
@@ -876,25 +876,25 @@
876
  "closeness rank": 10
877
  },
878
  "basket": {
879
- "distance": "2.15 meters",
880
  "closeness rank": 11
881
  },
882
  "toilet": {
883
- "distance": "3.1 meters",
884
  "closeness rank": 12
885
  }
886
  },
887
  "ceiling light": {
888
  "plant": {
889
- "distance": "0.84 meters",
890
  "closeness rank": 1
891
  },
892
  "door": {
893
- "distance": "1.27 meters",
894
  "closeness rank": 2
895
  },
896
  "chair": {
897
- "distance": "1.51 meters",
898
  "closeness rank": 3
899
  },
900
  "sofa": {
@@ -910,7 +910,7 @@
910
  "closeness rank": 6
911
  },
912
  "pillow": {
913
- "distance": "1.8 meters",
914
  "closeness rank": 7
915
  },
916
  "bed": {
@@ -922,15 +922,15 @@
922
  "closeness rank": 9
923
  },
924
  "heater": {
925
- "distance": "2.66 meters",
926
  "closeness rank": 10
927
  },
928
  "basket": {
929
- "distance": "3.38 meters",
930
  "closeness rank": 11
931
  },
932
  "toilet": {
933
- "distance": "4.01 meters",
934
  "closeness rank": 12
935
  }
936
  },
@@ -940,7 +940,7 @@
940
  "closeness rank": 1
941
  },
942
  "pillow": {
943
- "distance": "0.0 meters",
944
  "closeness rank": 2
945
  },
946
  "basket": {
@@ -952,7 +952,7 @@
952
  "closeness rank": 4
953
  },
954
  "door": {
955
- "distance": "0.38 meters",
956
  "closeness rank": 5
957
  },
958
  "table": {
@@ -960,7 +960,7 @@
960
  "closeness rank": 6
961
  },
962
  "plant": {
963
- "distance": "0.49 meters",
964
  "closeness rank": 7
965
  },
966
  "toilet": {
@@ -972,7 +972,7 @@
972
  "closeness rank": 9
973
  },
974
  "sofa": {
975
- "distance": "1.67 meters",
976
  "closeness rank": 10
977
  },
978
  "chair": {
@@ -985,19 +985,5 @@
985
  }
986
  }
987
  },
988
- "appearance order": [
989
- "toilet",
990
- "door",
991
- "basket",
992
- "pillow",
993
- "blanket",
994
- "bed",
995
- "tv",
996
- "table",
997
- "sofa",
998
- "plant",
999
- "chair",
1000
- "ceiling light",
1001
- "heater"
1002
- ]
1003
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
336
  "closest classes distance meters from": {
337
  "door": {
338
  "basket": {
339
+ "distance": "1.17 meters",
340
  "closeness rank": 1
341
  },
342
  "heater": {
343
+ "distance": "0.95 meters",
344
  "closeness rank": 2
345
  },
346
  "toilet": {
 
348
  "closeness rank": 3
349
  },
350
  "bed": {
351
+ "distance": "1.14 meters",
352
  "closeness rank": 4
353
  },
354
  "blanket": {
355
+ "distance": "1.23 meters",
356
  "closeness rank": 5
357
  },
358
  "tv": {
359
+ "distance": "2.42 meters",
360
  "closeness rank": 6
361
  },
362
  "table": {
363
+ "distance": "3.48 meters",
364
  "closeness rank": 7
365
  },
366
  "plant": {
367
+ "distance": "2.9 meters",
368
  "closeness rank": 8
369
  },
370
  "pillow": {
371
+ "distance": "5.62 meters",
372
  "closeness rank": 9
373
  },
374
  "chair": {
375
+ "distance": "4.27 meters",
376
  "closeness rank": 10
377
  },
378
  "ceiling light": {
379
+ "distance": "3.77 meters",
380
  "closeness rank": 11
381
  },
382
  "sofa": {
383
+ "distance": "3.95 meters",
384
  "closeness rank": 12
385
  }
386
  },
 
394
  "closeness rank": 2
395
  },
396
  "heater": {
397
+ "distance": "3.31 meters",
398
  "closeness rank": 3
399
  },
400
  "table": {
401
+ "distance": "1.57 meters",
402
  "closeness rank": 4
403
  },
404
  "chair": {
 
406
  "closeness rank": 5
407
  },
408
  "tv": {
409
+ "distance": "0.53 meters",
410
  "closeness rank": 6
411
  },
412
  "ceiling light": {
 
414
  "closeness rank": 7
415
  },
416
  "blanket": {
417
+ "distance": "1.93 meters",
418
  "closeness rank": 8
419
  },
420
  "bed": {
421
+ "distance": "1.9 meters",
422
  "closeness rank": 9
423
  },
424
  "door": {
425
+ "distance": "3.95 meters",
426
  "closeness rank": 10
427
  },
428
  "basket": {
429
+ "distance": "3.64 meters",
430
  "closeness rank": 11
431
  },
432
  "toilet": {
433
+ "distance": "4.32 meters",
434
  "closeness rank": 12
435
  }
436
  },
 
440
  "closeness rank": 1
441
  },
442
  "basket": {
443
+ "distance": "0.73 meters",
444
  "closeness rank": 2
445
  },
446
  "heater": {
 
456
  "closeness rank": 5
457
  },
458
  "pillow": {
459
+ "distance": "5.99 meters",
460
  "closeness rank": 6
461
  },
462
  "tv": {
463
+ "distance": "3.01 meters",
464
  "closeness rank": 7
465
  },
466
  "plant": {
467
+ "distance": "3.42 meters",
468
  "closeness rank": 8
469
  },
470
  "table": {
471
+ "distance": "3.27 meters",
472
  "closeness rank": 9
473
  },
474
  "ceiling light": {
475
+ "distance": "4.13 meters",
476
  "closeness rank": 10
477
  },
478
  "sofa": {
479
+ "distance": "4.32 meters",
480
  "closeness rank": 11
481
  },
482
  "chair": {
483
+ "distance": "4.47 meters",
484
  "closeness rank": 12
485
  }
486
  },
487
  "pillow": {
488
  "bed": {
489
+ "distance": "3.48 meters",
490
  "closeness rank": 1
491
  },
492
  "blanket": {
493
+ "distance": "3.52 meters",
494
  "closeness rank": 2
495
  },
496
  "plant": {
497
+ "distance": "1.16 meters",
498
  "closeness rank": 3
499
  },
500
  "sofa": {
 
502
  "closeness rank": 4
503
  },
504
  "heater": {
505
+ "distance": "4.95 meters",
506
  "closeness rank": 5
507
  },
508
  "table": {
509
+ "distance": "2.87 meters",
510
  "closeness rank": 6
511
  },
512
  "tv": {
513
+ "distance": "2.18 meters",
514
  "closeness rank": 7
515
  },
516
  "chair": {
517
+ "distance": "0.97 meters",
518
  "closeness rank": 8
519
  },
520
  "basket": {
521
+ "distance": "5.28 meters",
522
  "closeness rank": 9
523
  },
524
  "door": {
525
+ "distance": "5.62 meters",
526
  "closeness rank": 10
527
  },
528
  "toilet": {
529
+ "distance": "5.99 meters",
530
  "closeness rank": 11
531
  },
532
  "ceiling light": {
533
+ "distance": "2.63 meters",
534
  "closeness rank": 12
535
  }
536
  },
537
  "chair": {
538
  "table": {
539
+ "distance": "1.2 meters",
540
  "closeness rank": 1
541
  },
542
  "plant": {
543
+ "distance": "0.4 meters",
544
  "closeness rank": 2
545
  },
546
  "sofa": {
 
548
  "closeness rank": 3
549
  },
550
  "pillow": {
551
+ "distance": "0.97 meters",
552
  "closeness rank": 4
553
  },
554
  "door": {
555
+ "distance": "4.27 meters",
556
  "closeness rank": 5
557
  },
558
  "heater": {
559
+ "distance": "3.32 meters",
560
  "closeness rank": 6
561
  },
562
  "tv": {
 
564
  "closeness rank": 7
565
  },
566
  "ceiling light": {
567
+ "distance": "1.54 meters",
568
  "closeness rank": 8
569
  },
570
  "blanket": {
 
580
  "closeness rank": 11
581
  },
582
  "toilet": {
583
+ "distance": "4.47 meters",
584
  "closeness rank": 12
585
  }
586
  },
 
590
  "closeness rank": 1
591
  },
592
  "sofa": {
593
+ "distance": "3.31 meters",
594
  "closeness rank": 2
595
  },
596
  "pillow": {
597
+ "distance": "4.95 meters",
598
  "closeness rank": 3
599
  },
600
  "door": {
601
+ "distance": "0.95 meters",
602
  "closeness rank": 4
603
  },
604
  "plant": {
605
+ "distance": "2.57 meters",
606
  "closeness rank": 5
607
  },
608
  "bed": {
 
614
  "closeness rank": 7
615
  },
616
  "table": {
617
+ "distance": "1.96 meters",
618
  "closeness rank": 8
619
  },
620
  "toilet": {
 
622
  "closeness rank": 9
623
  },
624
  "chair": {
625
+ "distance": "3.32 meters",
626
  "closeness rank": 10
627
  },
628
  "tv": {
 
630
  "closeness rank": 11
631
  },
632
  "ceiling light": {
633
+ "distance": "3.13 meters",
634
  "closeness rank": 12
635
  }
636
  },
 
640
  "closeness rank": 1
641
  },
642
  "door": {
643
+ "distance": "1.17 meters",
644
  "closeness rank": 2
645
  },
646
  "bed": {
 
652
  "closeness rank": 4
653
  },
654
  "toilet": {
655
+ "distance": "0.73 meters",
656
  "closeness rank": 5
657
  },
658
  "pillow": {
659
+ "distance": "5.28 meters",
660
  "closeness rank": 6
661
  },
662
  "table": {
663
+ "distance": "2.23 meters",
664
  "closeness rank": 7
665
  },
666
  "plant": {
667
+ "distance": "2.94 meters",
668
  "closeness rank": 8
669
  },
670
  "tv": {
 
672
  "closeness rank": 9
673
  },
674
  "ceiling light": {
675
+ "distance": "3.53 meters",
676
  "closeness rank": 10
677
  },
678
  "sofa": {
679
+ "distance": "3.64 meters",
680
  "closeness rank": 11
681
  },
682
  "chair": {
 
690
  "closeness rank": 1
691
  },
692
  "pillow": {
693
+ "distance": "3.48 meters",
694
  "closeness rank": 2
695
  },
696
  "basket": {
 
702
  "closeness rank": 4
703
  },
704
  "door": {
705
+ "distance": "1.14 meters",
706
  "closeness rank": 5
707
  },
708
  "table": {
 
710
  "closeness rank": 6
711
  },
712
  "plant": {
713
+ "distance": "1.35 meters",
714
  "closeness rank": 7
715
  },
716
  "toilet": {
 
722
  "closeness rank": 9
723
  },
724
  "sofa": {
725
+ "distance": "1.9 meters",
726
  "closeness rank": 10
727
  },
728
  "ceiling light": {
 
740
  "closeness rank": 1
741
  },
742
  "pillow": {
743
+ "distance": "2.18 meters",
744
  "closeness rank": 2
745
  },
746
  "sofa": {
747
+ "distance": "0.53 meters",
748
  "closeness rank": 3
749
  },
750
  "door": {
751
+ "distance": "2.42 meters",
752
  "closeness rank": 4
753
  },
754
  "chair": {
 
764
  "closeness rank": 7
765
  },
766
  "table": {
767
+ "distance": "2.17 meters",
768
  "closeness rank": 8
769
  },
770
  "ceiling light": {
 
780
  "closeness rank": 11
781
  },
782
  "toilet": {
783
+ "distance": "3.01 meters",
784
  "closeness rank": 12
785
  }
786
  },
787
  "plant": {
788
  "pillow": {
789
+ "distance": "1.16 meters",
790
  "closeness rank": 1
791
  },
792
  "sofa": {
 
798
  "closeness rank": 3
799
  },
800
  "table": {
801
+ "distance": "1.69 meters",
802
  "closeness rank": 4
803
  },
804
  "heater": {
805
+ "distance": "2.57 meters",
806
  "closeness rank": 5
807
  },
808
  "chair": {
809
+ "distance": "0.4 meters",
810
  "closeness rank": 6
811
  },
812
  "bed": {
813
+ "distance": "1.35 meters",
814
  "closeness rank": 7
815
  },
816
  "blanket": {
817
+ "distance": "1.36 meters",
818
  "closeness rank": 8
819
  },
820
  "ceiling light": {
821
+ "distance": "0.93 meters",
822
  "closeness rank": 9
823
  },
824
  "door": {
825
+ "distance": "2.9 meters",
826
  "closeness rank": 10
827
  },
828
  "basket": {
829
+ "distance": "2.94 meters",
830
  "closeness rank": 11
831
  },
832
  "toilet": {
833
+ "distance": "3.42 meters",
834
  "closeness rank": 12
835
  }
836
  },
837
  "table": {
838
  "chair": {
839
+ "distance": "1.2 meters",
840
  "closeness rank": 1
841
  },
842
  "plant": {
843
+ "distance": "1.69 meters",
844
  "closeness rank": 2
845
  },
846
  "sofa": {
847
+ "distance": "1.57 meters",
848
  "closeness rank": 3
849
  },
850
  "pillow": {
851
+ "distance": "2.87 meters",
852
  "closeness rank": 4
853
  },
854
  "bed": {
 
860
  "closeness rank": 6
861
  },
862
  "heater": {
863
+ "distance": "1.96 meters",
864
  "closeness rank": 7
865
  },
866
  "door": {
867
+ "distance": "3.48 meters",
868
  "closeness rank": 8
869
  },
870
  "tv": {
871
+ "distance": "2.17 meters",
872
  "closeness rank": 9
873
  },
874
  "ceiling light": {
 
876
  "closeness rank": 10
877
  },
878
  "basket": {
879
+ "distance": "2.23 meters",
880
  "closeness rank": 11
881
  },
882
  "toilet": {
883
+ "distance": "3.27 meters",
884
  "closeness rank": 12
885
  }
886
  },
887
  "ceiling light": {
888
  "plant": {
889
+ "distance": "0.93 meters",
890
  "closeness rank": 1
891
  },
892
  "door": {
893
+ "distance": "3.77 meters",
894
  "closeness rank": 2
895
  },
896
  "chair": {
897
+ "distance": "1.54 meters",
898
  "closeness rank": 3
899
  },
900
  "sofa": {
 
910
  "closeness rank": 6
911
  },
912
  "pillow": {
913
+ "distance": "2.63 meters",
914
  "closeness rank": 7
915
  },
916
  "bed": {
 
922
  "closeness rank": 9
923
  },
924
  "heater": {
925
+ "distance": "3.13 meters",
926
  "closeness rank": 10
927
  },
928
  "basket": {
929
+ "distance": "3.53 meters",
930
  "closeness rank": 11
931
  },
932
  "toilet": {
933
+ "distance": "4.13 meters",
934
  "closeness rank": 12
935
  }
936
  },
 
940
  "closeness rank": 1
941
  },
942
  "pillow": {
943
+ "distance": "3.52 meters",
944
  "closeness rank": 2
945
  },
946
  "basket": {
 
952
  "closeness rank": 4
953
  },
954
  "door": {
955
+ "distance": "1.23 meters",
956
  "closeness rank": 5
957
  },
958
  "table": {
 
960
  "closeness rank": 6
961
  },
962
  "plant": {
963
+ "distance": "1.36 meters",
964
  "closeness rank": 7
965
  },
966
  "toilet": {
 
972
  "closeness rank": 9
973
  },
974
  "sofa": {
975
+ "distance": "1.93 meters",
976
  "closeness rank": 10
977
  },
978
  "chair": {
 
985
  }
986
  }
987
  },
988
+ "appearance order": ["toilet", "door", "basket", "pillow", "blanket", "bed", "tv", "table", "sofa", "plant", "chair", "ceiling light", "heater"]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
989
  }
data/spatial codes/ground truth/explicit/5eb31827b7.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -315,11 +315,11 @@
315
  "closest classes distance meters from": {
316
  "whiteboard": {
317
  "monitor": {
318
- "distance": "0.0 meters",
319
  "closeness rank": 1
320
  },
321
  "telephone": {
322
- "distance": "0.18 meters",
323
  "closeness rank": 2
324
  },
325
  "heater": {
@@ -327,19 +327,19 @@
327
  "closeness rank": 3
328
  },
329
  "table": {
330
- "distance": "0.74 meters",
331
  "closeness rank": 4
332
  },
333
  "keyboard": {
334
- "distance": "1.28 meters",
335
  "closeness rank": 5
336
  },
337
  "laptop": {
338
- "distance": "1.78 meters",
339
  "closeness rank": 6
340
  },
341
  "trash can": {
342
- "distance": "1.81 meters",
343
  "closeness rank": 7
344
  },
345
  "bookshelf": {
@@ -347,7 +347,7 @@
347
  "closeness rank": 8
348
  },
349
  "computer mouse": {
350
- "distance": "2.22 meters",
351
  "closeness rank": 9
352
  },
353
  "door": {
@@ -355,17 +355,17 @@
355
  "closeness rank": 10
356
  },
357
  "computer tower": {
358
- "distance": "3.93 meters",
359
  "closeness rank": 11
360
  }
361
  },
362
  "table": {
363
  "computer mouse": {
364
- "distance": "0.0 meters",
365
  "closeness rank": 1
366
  },
367
  "keyboard": {
368
- "distance": "0.0 meters",
369
  "closeness rank": 2
370
  },
371
  "laptop": {
@@ -373,23 +373,23 @@
373
  "closeness rank": 3
374
  },
375
  "monitor": {
376
- "distance": "0.0 meters",
377
  "closeness rank": 4
378
  },
379
  "bookshelf": {
380
- "distance": "0.54 meters",
381
  "closeness rank": 5
382
  },
383
  "whiteboard": {
384
- "distance": "0.74 meters",
385
  "closeness rank": 6
386
  },
387
  "trash can": {
388
- "distance": "1.11 meters",
389
  "closeness rank": 7
390
  },
391
  "telephone": {
392
- "distance": "1.12 meters",
393
  "closeness rank": 8
394
  },
395
  "door": {
@@ -407,7 +407,7 @@
407
  },
408
  "bookshelf": {
409
  "trash can": {
410
- "distance": "0.06 meters",
411
  "closeness rank": 1
412
  },
413
  "heater": {
@@ -415,15 +415,15 @@
415
  "closeness rank": 2
416
  },
417
  "table": {
418
- "distance": "0.54 meters",
419
  "closeness rank": 3
420
  },
421
  "laptop": {
422
- "distance": "0.79 meters",
423
  "closeness rank": 4
424
  },
425
  "monitor": {
426
- "distance": "1.06 meters",
427
  "closeness rank": 5
428
  },
429
  "keyboard": {
@@ -439,7 +439,7 @@
439
  "closeness rank": 8
440
  },
441
  "computer mouse": {
442
- "distance": "2.32 meters",
443
  "closeness rank": 9
444
  },
445
  "door": {
@@ -457,39 +457,39 @@
457
  "closeness rank": 1
458
  },
459
  "laptop": {
460
- "distance": "0.0 meters",
461
  "closeness rank": 2
462
  },
463
  "table": {
464
- "distance": "0.0 meters",
465
  "closeness rank": 3
466
  },
467
  "whiteboard": {
468
- "distance": "0.0 meters",
469
  "closeness rank": 4
470
  },
471
  "keyboard": {
472
- "distance": "0.17 meters",
473
  "closeness rank": 5
474
  },
475
  "trash can": {
476
- "distance": "0.43 meters",
477
  "closeness rank": 6
478
  },
479
  "computer tower": {
480
- "distance": "0.55 meters",
481
  "closeness rank": 7
482
  },
483
  "telephone": {
484
- "distance": "0.72 meters",
485
  "closeness rank": 8
486
  },
487
  "heater": {
488
- "distance": "0.98 meters",
489
  "closeness rank": 9
490
  },
491
  "bookshelf": {
492
- "distance": "1.06 meters",
493
  "closeness rank": 10
494
  },
495
  "door": {
@@ -503,23 +503,23 @@
503
  "closeness rank": 1
504
  },
505
  "table": {
506
- "distance": "0.0 meters",
507
  "closeness rank": 2
508
  },
509
  "laptop": {
510
- "distance": "0.17 meters",
511
  "closeness rank": 3
512
  },
513
  "trash can": {
514
- "distance": "0.56 meters",
515
  "closeness rank": 4
516
  },
517
  "computer tower": {
518
- "distance": "0.87 meters",
519
  "closeness rank": 5
520
  },
521
  "keyboard": {
522
- "distance": "1.02 meters",
523
  "closeness rank": 6
524
  },
525
  "door": {
@@ -527,19 +527,19 @@
527
  "closeness rank": 7
528
  },
529
  "whiteboard": {
530
- "distance": "2.22 meters",
531
  "closeness rank": 8
532
  },
533
  "bookshelf": {
534
- "distance": "2.32 meters",
535
  "closeness rank": 9
536
  },
537
  "telephone": {
538
- "distance": "2.79 meters",
539
  "closeness rank": 10
540
  },
541
  "heater": {
542
- "distance": "2.87 meters",
543
  "closeness rank": 11
544
  }
545
  },
@@ -549,7 +549,7 @@
549
  "closeness rank": 1
550
  },
551
  "monitor": {
552
- "distance": "0.55 meters",
553
  "closeness rank": 2
554
  },
555
  "door": {
@@ -557,7 +557,7 @@
557
  "closeness rank": 3
558
  },
559
  "computer mouse": {
560
- "distance": "0.87 meters",
561
  "closeness rank": 4
562
  },
563
  "table": {
@@ -565,7 +565,7 @@
565
  "closeness rank": 5
566
  },
567
  "laptop": {
568
- "distance": "1.91 meters",
569
  "closeness rank": 6
570
  },
571
  "keyboard": {
@@ -573,7 +573,7 @@
573
  "closeness rank": 7
574
  },
575
  "whiteboard": {
576
- "distance": "3.93 meters",
577
  "closeness rank": 8
578
  },
579
  "bookshelf": {
@@ -595,19 +595,19 @@
595
  "closeness rank": 1
596
  },
597
  "heater": {
598
- "distance": "0.0 meters",
599
  "closeness rank": 2
600
  },
601
  "bookshelf": {
602
- "distance": "0.06 meters",
603
  "closeness rank": 3
604
  },
605
  "monitor": {
606
- "distance": "0.43 meters",
607
  "closeness rank": 4
608
  },
609
  "computer mouse": {
610
- "distance": "0.56 meters",
611
  "closeness rank": 5
612
  },
613
  "door": {
@@ -615,23 +615,23 @@
615
  "closeness rank": 6
616
  },
617
  "table": {
618
- "distance": "1.11 meters",
619
  "closeness rank": 7
620
  },
621
  "laptop": {
622
- "distance": "1.41 meters",
623
  "closeness rank": 8
624
  },
625
  "telephone": {
626
- "distance": "1.45 meters",
627
  "closeness rank": 9
628
  },
629
  "keyboard": {
630
- "distance": "1.5 meters",
631
  "closeness rank": 10
632
  },
633
  "whiteboard": {
634
- "distance": "1.81 meters",
635
  "closeness rank": 11
636
  }
637
  },
@@ -683,7 +683,7 @@
683
  },
684
  "laptop": {
685
  "monitor": {
686
- "distance": "0.0 meters",
687
  "closeness rank": 1
688
  },
689
  "table": {
@@ -691,19 +691,19 @@
691
  "closeness rank": 2
692
  },
693
  "computer mouse": {
694
- "distance": "0.17 meters",
695
  "closeness rank": 3
696
  },
697
  "keyboard": {
698
- "distance": "0.3 meters",
699
  "closeness rank": 4
700
  },
701
  "bookshelf": {
702
- "distance": "0.79 meters",
703
  "closeness rank": 5
704
  },
705
  "trash can": {
706
- "distance": "1.41 meters",
707
  "closeness rank": 6
708
  },
709
  "door": {
@@ -711,37 +711,37 @@
711
  "closeness rank": 7
712
  },
713
  "heater": {
714
- "distance": "1.62 meters",
715
  "closeness rank": 8
716
  },
717
  "whiteboard": {
718
- "distance": "1.78 meters",
719
  "closeness rank": 9
720
  },
721
  "computer tower": {
722
- "distance": "1.91 meters",
723
  "closeness rank": 10
724
  },
725
  "telephone": {
726
- "distance": "2.08 meters",
727
  "closeness rank": 11
728
  }
729
  },
730
  "keyboard": {
731
  "table": {
732
- "distance": "0.0 meters",
733
  "closeness rank": 1
734
  },
735
  "monitor": {
736
- "distance": "0.17 meters",
737
  "closeness rank": 2
738
  },
739
  "laptop": {
740
- "distance": "0.3 meters",
741
  "closeness rank": 3
742
  },
743
  "computer mouse": {
744
- "distance": "1.02 meters",
745
  "closeness rank": 4
746
  },
747
  "bookshelf": {
@@ -749,11 +749,11 @@
749
  "closeness rank": 5
750
  },
751
  "whiteboard": {
752
- "distance": "1.28 meters",
753
  "closeness rank": 6
754
  },
755
  "trash can": {
756
- "distance": "1.5 meters",
757
  "closeness rank": 7
758
  },
759
  "heater": {
@@ -775,7 +775,7 @@
775
  },
776
  "heater": {
777
  "trash can": {
778
- "distance": "0.0 meters",
779
  "closeness rank": 1
780
  },
781
  "telephone": {
@@ -791,7 +791,7 @@
791
  "closeness rank": 4
792
  },
793
  "monitor": {
794
- "distance": "0.98 meters",
795
  "closeness rank": 5
796
  },
797
  "table": {
@@ -803,11 +803,11 @@
803
  "closeness rank": 7
804
  },
805
  "laptop": {
806
- "distance": "1.62 meters",
807
  "closeness rank": 8
808
  },
809
  "computer mouse": {
810
- "distance": "2.87 meters",
811
  "closeness rank": 9
812
  },
813
  "door": {
@@ -825,19 +825,19 @@
825
  "closeness rank": 1
826
  },
827
  "whiteboard": {
828
- "distance": "0.18 meters",
829
  "closeness rank": 2
830
  },
831
  "monitor": {
832
- "distance": "0.72 meters",
833
  "closeness rank": 3
834
  },
835
  "table": {
836
- "distance": "1.12 meters",
837
  "closeness rank": 4
838
  },
839
  "trash can": {
840
- "distance": "1.45 meters",
841
  "closeness rank": 5
842
  },
843
  "bookshelf": {
@@ -849,11 +849,11 @@
849
  "closeness rank": 7
850
  },
851
  "laptop": {
852
- "distance": "2.08 meters",
853
  "closeness rank": 8
854
  },
855
  "computer mouse": {
856
- "distance": "2.79 meters",
857
  "closeness rank": 9
858
  },
859
  "door": {
@@ -866,18 +866,5 @@
866
  }
867
  }
868
  },
869
- "appearance order": [
870
- "whiteboard",
871
- "table",
872
- "bookshelf",
873
- "monitor",
874
- "computer mouse",
875
- "computer tower",
876
- "trash can",
877
- "door",
878
- "laptop",
879
- "keyboard",
880
- "heater",
881
- "telephone"
882
- ]
883
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
315
  "closest classes distance meters from": {
316
  "whiteboard": {
317
  "monitor": {
318
+ "distance": "4.16 meters",
319
  "closeness rank": 1
320
  },
321
  "telephone": {
322
+ "distance": "0.2 meters",
323
  "closeness rank": 2
324
  },
325
  "heater": {
 
327
  "closeness rank": 3
328
  },
329
  "table": {
330
+ "distance": "1.63 meters",
331
  "closeness rank": 4
332
  },
333
  "keyboard": {
334
+ "distance": "1.32 meters",
335
  "closeness rank": 5
336
  },
337
  "laptop": {
338
+ "distance": "2.03 meters",
339
  "closeness rank": 6
340
  },
341
  "trash can": {
342
+ "distance": "4.2 meters",
343
  "closeness rank": 7
344
  },
345
  "bookshelf": {
 
347
  "closeness rank": 8
348
  },
349
  "computer mouse": {
350
+ "distance": "4.42 meters",
351
  "closeness rank": 9
352
  },
353
  "door": {
 
355
  "closeness rank": 10
356
  },
357
  "computer tower": {
358
+ "distance": "4.25 meters",
359
  "closeness rank": 11
360
  }
361
  },
362
  "table": {
363
  "computer mouse": {
364
+ "distance": "1.3 meters",
365
  "closeness rank": 1
366
  },
367
  "keyboard": {
368
+ "distance": "0.06 meters",
369
  "closeness rank": 2
370
  },
371
  "laptop": {
 
373
  "closeness rank": 3
374
  },
375
  "monitor": {
376
+ "distance": "1.13 meters",
377
  "closeness rank": 4
378
  },
379
  "bookshelf": {
380
+ "distance": "1.17 meters",
381
  "closeness rank": 5
382
  },
383
  "whiteboard": {
384
+ "distance": "1.63 meters",
385
  "closeness rank": 6
386
  },
387
  "trash can": {
388
+ "distance": "1.27 meters",
389
  "closeness rank": 7
390
  },
391
  "telephone": {
392
+ "distance": "1.79 meters",
393
  "closeness rank": 8
394
  },
395
  "door": {
 
407
  },
408
  "bookshelf": {
409
  "trash can": {
410
+ "distance": "4.03 meters",
411
  "closeness rank": 1
412
  },
413
  "heater": {
 
415
  "closeness rank": 2
416
  },
417
  "table": {
418
+ "distance": "1.17 meters",
419
  "closeness rank": 3
420
  },
421
  "laptop": {
422
+ "distance": "2.12 meters",
423
  "closeness rank": 4
424
  },
425
  "monitor": {
426
+ "distance": "3.76 meters",
427
  "closeness rank": 5
428
  },
429
  "keyboard": {
 
439
  "closeness rank": 8
440
  },
441
  "computer mouse": {
442
+ "distance": "3.93 meters",
443
  "closeness rank": 9
444
  },
445
  "door": {
 
457
  "closeness rank": 1
458
  },
459
  "laptop": {
460
+ "distance": "1.74 meters",
461
  "closeness rank": 2
462
  },
463
  "table": {
464
+ "distance": "1.13 meters",
465
  "closeness rank": 3
466
  },
467
  "whiteboard": {
468
+ "distance": "4.16 meters",
469
  "closeness rank": 4
470
  },
471
  "keyboard": {
472
+ "distance": "2.64 meters",
473
  "closeness rank": 5
474
  },
475
  "trash can": {
476
+ "distance": "0.56 meters",
477
  "closeness rank": 6
478
  },
479
  "computer tower": {
480
+ "distance": "0.73 meters",
481
  "closeness rank": 7
482
  },
483
  "telephone": {
484
+ "distance": "4.46 meters",
485
  "closeness rank": 8
486
  },
487
  "heater": {
488
+ "distance": "3.87 meters",
489
  "closeness rank": 9
490
  },
491
  "bookshelf": {
492
+ "distance": "3.76 meters",
493
  "closeness rank": 10
494
  },
495
  "door": {
 
503
  "closeness rank": 1
504
  },
505
  "table": {
506
+ "distance": "1.3 meters",
507
  "closeness rank": 2
508
  },
509
  "laptop": {
510
+ "distance": "2.01 meters",
511
  "closeness rank": 3
512
  },
513
  "trash can": {
514
+ "distance": "0.72 meters",
515
  "closeness rank": 4
516
  },
517
  "computer tower": {
518
+ "distance": "0.94 meters",
519
  "closeness rank": 5
520
  },
521
  "keyboard": {
522
+ "distance": "2.87 meters",
523
  "closeness rank": 6
524
  },
525
  "door": {
 
527
  "closeness rank": 7
528
  },
529
  "whiteboard": {
530
+ "distance": "4.42 meters",
531
  "closeness rank": 8
532
  },
533
  "bookshelf": {
534
+ "distance": "3.93 meters",
535
  "closeness rank": 9
536
  },
537
  "telephone": {
538
+ "distance": "4.68 meters",
539
  "closeness rank": 10
540
  },
541
  "heater": {
542
+ "distance": "4.08 meters",
543
  "closeness rank": 11
544
  }
545
  },
 
549
  "closeness rank": 1
550
  },
551
  "monitor": {
552
+ "distance": "0.73 meters",
553
  "closeness rank": 2
554
  },
555
  "door": {
 
557
  "closeness rank": 3
558
  },
559
  "computer mouse": {
560
+ "distance": "0.94 meters",
561
  "closeness rank": 4
562
  },
563
  "table": {
 
565
  "closeness rank": 5
566
  },
567
  "laptop": {
568
+ "distance": "2.02 meters",
569
  "closeness rank": 6
570
  },
571
  "keyboard": {
 
573
  "closeness rank": 7
574
  },
575
  "whiteboard": {
576
+ "distance": "4.25 meters",
577
  "closeness rank": 8
578
  },
579
  "bookshelf": {
 
595
  "closeness rank": 1
596
  },
597
  "heater": {
598
+ "distance": "4.01 meters",
599
  "closeness rank": 2
600
  },
601
  "bookshelf": {
602
+ "distance": "4.03 meters",
603
  "closeness rank": 3
604
  },
605
  "monitor": {
606
+ "distance": "0.56 meters",
607
  "closeness rank": 4
608
  },
609
  "computer mouse": {
610
+ "distance": "0.72 meters",
611
  "closeness rank": 5
612
  },
613
  "door": {
 
615
  "closeness rank": 6
616
  },
617
  "table": {
618
+ "distance": "1.27 meters",
619
  "closeness rank": 7
620
  },
621
  "laptop": {
622
+ "distance": "1.93 meters",
623
  "closeness rank": 8
624
  },
625
  "telephone": {
626
+ "distance": "4.45 meters",
627
  "closeness rank": 9
628
  },
629
  "keyboard": {
630
+ "distance": "2.89 meters",
631
  "closeness rank": 10
632
  },
633
  "whiteboard": {
634
+ "distance": "4.2 meters",
635
  "closeness rank": 11
636
  }
637
  },
 
683
  },
684
  "laptop": {
685
  "monitor": {
686
+ "distance": "1.74 meters",
687
  "closeness rank": 1
688
  },
689
  "table": {
 
691
  "closeness rank": 2
692
  },
693
  "computer mouse": {
694
+ "distance": "2.01 meters",
695
  "closeness rank": 3
696
  },
697
  "keyboard": {
698
+ "distance": "0.72 meters",
699
  "closeness rank": 4
700
  },
701
  "bookshelf": {
702
+ "distance": "2.12 meters",
703
  "closeness rank": 5
704
  },
705
  "trash can": {
706
+ "distance": "1.93 meters",
707
  "closeness rank": 6
708
  },
709
  "door": {
 
711
  "closeness rank": 7
712
  },
713
  "heater": {
714
+ "distance": "1.88 meters",
715
  "closeness rank": 8
716
  },
717
  "whiteboard": {
718
+ "distance": "2.03 meters",
719
  "closeness rank": 9
720
  },
721
  "computer tower": {
722
+ "distance": "2.02 meters",
723
  "closeness rank": 10
724
  },
725
  "telephone": {
726
+ "distance": "2.39 meters",
727
  "closeness rank": 11
728
  }
729
  },
730
  "keyboard": {
731
  "table": {
732
+ "distance": "0.06 meters",
733
  "closeness rank": 1
734
  },
735
  "monitor": {
736
+ "distance": "2.64 meters",
737
  "closeness rank": 2
738
  },
739
  "laptop": {
740
+ "distance": "0.72 meters",
741
  "closeness rank": 3
742
  },
743
  "computer mouse": {
744
+ "distance": "2.87 meters",
745
  "closeness rank": 4
746
  },
747
  "bookshelf": {
 
749
  "closeness rank": 5
750
  },
751
  "whiteboard": {
752
+ "distance": "1.32 meters",
753
  "closeness rank": 6
754
  },
755
  "trash can": {
756
+ "distance": "2.89 meters",
757
  "closeness rank": 7
758
  },
759
  "heater": {
 
775
  },
776
  "heater": {
777
  "trash can": {
778
+ "distance": "4.01 meters",
779
  "closeness rank": 1
780
  },
781
  "telephone": {
 
791
  "closeness rank": 4
792
  },
793
  "monitor": {
794
+ "distance": "3.87 meters",
795
  "closeness rank": 5
796
  },
797
  "table": {
 
803
  "closeness rank": 7
804
  },
805
  "laptop": {
806
+ "distance": "1.88 meters",
807
  "closeness rank": 8
808
  },
809
  "computer mouse": {
810
+ "distance": "4.08 meters",
811
  "closeness rank": 9
812
  },
813
  "door": {
 
825
  "closeness rank": 1
826
  },
827
  "whiteboard": {
828
+ "distance": "0.2 meters",
829
  "closeness rank": 2
830
  },
831
  "monitor": {
832
+ "distance": "4.46 meters",
833
  "closeness rank": 3
834
  },
835
  "table": {
836
+ "distance": "1.79 meters",
837
  "closeness rank": 4
838
  },
839
  "trash can": {
840
+ "distance": "4.45 meters",
841
  "closeness rank": 5
842
  },
843
  "bookshelf": {
 
849
  "closeness rank": 7
850
  },
851
  "laptop": {
852
+ "distance": "2.39 meters",
853
  "closeness rank": 8
854
  },
855
  "computer mouse": {
856
+ "distance": "4.68 meters",
857
  "closeness rank": 9
858
  },
859
  "door": {
 
866
  }
867
  }
868
  },
869
+ "appearance order": ["whiteboard", "table", "bookshelf", "monitor", "computer mouse", "computer tower", "trash can", "door", "laptop", "keyboard", "heater", "telephone"]
 
 
 
 
 
 
 
 
 
 
 
 
 
870
  }
data/spatial codes/ground truth/explicit/5ee7c22ba0.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -217,11 +217,5 @@
217
  }
218
  }
219
  },
220
- "appearance order": [
221
- "microwave",
222
- "refrigerator",
223
- "table",
224
- "door",
225
- "ceiling light"
226
- ]
227
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
217
  }
218
  }
219
  },
220
+ "appearance order": ["microwave", "refrigerator", "table", "door", "ceiling light"]
 
 
 
 
 
 
221
  }
data/spatial codes/ground truth/explicit/5f99900f09.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -436,15 +436,15 @@
436
  "closest classes distance meters from": {
437
  "door": {
438
  "ceiling light": {
439
- "distance": "0.54 meters",
440
  "closeness rank": 1
441
  },
442
  "chair": {
443
- "distance": "0.78 meters",
444
  "closeness rank": 2
445
  },
446
  "suitcase": {
447
- "distance": "0.9 meters",
448
  "closeness rank": 3
449
  },
450
  "whiteboard": {
@@ -452,11 +452,11 @@
452
  "closeness rank": 4
453
  },
454
  "table": {
455
- "distance": "1.73 meters",
456
  "closeness rank": 5
457
  },
458
  "refrigerator": {
459
- "distance": "2.79 meters",
460
  "closeness rank": 6
461
  },
462
  "monitor": {
@@ -464,13 +464,13 @@
464
  "closeness rank": 7
465
  },
466
  "printer": {
467
- "distance": "5.14 meters",
468
  "closeness rank": 8
469
  }
470
  },
471
  "table": {
472
  "chair": {
473
- "distance": "0.0 meters",
474
  "closeness rank": 1
475
  },
476
  "monitor": {
@@ -478,53 +478,53 @@
478
  "closeness rank": 2
479
  },
480
  "printer": {
481
- "distance": "0.0 meters",
482
  "closeness rank": 3
483
  },
484
  "whiteboard": {
485
- "distance": "0.5 meters",
486
  "closeness rank": 4
487
  },
488
  "refrigerator": {
489
- "distance": "1.01 meters",
490
  "closeness rank": 5
491
  },
492
  "ceiling light": {
493
- "distance": "1.48 meters",
494
  "closeness rank": 6
495
  },
496
  "door": {
497
- "distance": "1.73 meters",
498
  "closeness rank": 7
499
  },
500
  "suitcase": {
501
- "distance": "1.9 meters",
502
  "closeness rank": 8
503
  }
504
  },
505
  "printer": {
506
  "chair": {
507
- "distance": "0.0 meters",
508
  "closeness rank": 1
509
  },
510
  "table": {
511
- "distance": "0.0 meters",
512
  "closeness rank": 2
513
  },
514
  "monitor": {
515
- "distance": "0.57 meters",
516
  "closeness rank": 3
517
  },
518
  "ceiling light": {
519
- "distance": "1.32 meters",
520
  "closeness rank": 4
521
  },
522
  "whiteboard": {
523
- "distance": "3.1 meters",
524
  "closeness rank": 5
525
  },
526
  "suitcase": {
527
- "distance": "3.51 meters",
528
  "closeness rank": 6
529
  },
530
  "refrigerator": {
@@ -532,7 +532,7 @@
532
  "closeness rank": 7
533
  },
534
  "door": {
535
- "distance": "5.14 meters",
536
  "closeness rank": 8
537
  }
538
  },
@@ -542,23 +542,23 @@
542
  "closeness rank": 1
543
  },
544
  "printer": {
545
- "distance": "0.57 meters",
546
  "closeness rank": 2
547
  },
548
  "ceiling light": {
549
- "distance": "0.99 meters",
550
  "closeness rank": 3
551
  },
552
  "chair": {
553
- "distance": "1.34 meters",
554
  "closeness rank": 4
555
  },
556
  "whiteboard": {
557
- "distance": "1.92 meters",
558
  "closeness rank": 5
559
  },
560
  "suitcase": {
561
- "distance": "3.11 meters",
562
  "closeness rank": 6
563
  },
564
  "refrigerator": {
@@ -572,7 +572,7 @@
572
  },
573
  "suitcase": {
574
  "door": {
575
- "distance": "0.9 meters",
576
  "closeness rank": 1
577
  },
578
  "refrigerator": {
@@ -584,11 +584,11 @@
584
  "closeness rank": 3
585
  },
586
  "table": {
587
- "distance": "1.9 meters",
588
  "closeness rank": 4
589
  },
590
  "ceiling light": {
591
- "distance": "2.58 meters",
592
  "closeness rank": 5
593
  },
594
  "whiteboard": {
@@ -596,41 +596,41 @@
596
  "closeness rank": 6
597
  },
598
  "monitor": {
599
- "distance": "3.11 meters",
600
  "closeness rank": 7
601
  },
602
  "printer": {
603
- "distance": "3.51 meters",
604
  "closeness rank": 8
605
  }
606
  },
607
  "chair": {
608
  "printer": {
609
- "distance": "0.0 meters",
610
  "closeness rank": 1
611
  },
612
  "table": {
613
- "distance": "0.0 meters",
614
  "closeness rank": 2
615
  },
616
  "whiteboard": {
617
- "distance": "0.23 meters",
618
  "closeness rank": 3
619
  },
620
  "refrigerator": {
621
- "distance": "0.68 meters",
622
  "closeness rank": 4
623
  },
624
  "door": {
625
- "distance": "0.78 meters",
626
  "closeness rank": 5
627
  },
628
  "monitor": {
629
- "distance": "1.34 meters",
630
  "closeness rank": 6
631
  },
632
  "ceiling light": {
633
- "distance": "1.47 meters",
634
  "closeness rank": 7
635
  },
636
  "suitcase": {
@@ -640,15 +640,15 @@
640
  },
641
  "whiteboard": {
642
  "chair": {
643
- "distance": "0.23 meters",
644
  "closeness rank": 1
645
  },
646
  "table": {
647
- "distance": "0.5 meters",
648
  "closeness rank": 2
649
  },
650
  "ceiling light": {
651
- "distance": "0.98 meters",
652
  "closeness rank": 3
653
  },
654
  "door": {
@@ -656,7 +656,7 @@
656
  "closeness rank": 4
657
  },
658
  "monitor": {
659
- "distance": "1.92 meters",
660
  "closeness rank": 5
661
  },
662
  "suitcase": {
@@ -664,7 +664,7 @@
664
  "closeness rank": 6
665
  },
666
  "printer": {
667
- "distance": "3.1 meters",
668
  "closeness rank": 7
669
  },
670
  "refrigerator": {
@@ -674,49 +674,49 @@
674
  },
675
  "ceiling light": {
676
  "door": {
677
- "distance": "0.54 meters",
678
  "closeness rank": 1
679
  },
680
  "refrigerator": {
681
- "distance": "0.74 meters",
682
  "closeness rank": 2
683
  },
684
  "whiteboard": {
685
- "distance": "0.98 meters",
686
  "closeness rank": 3
687
  },
688
  "monitor": {
689
- "distance": "0.99 meters",
690
  "closeness rank": 4
691
  },
692
  "printer": {
693
- "distance": "1.32 meters",
694
  "closeness rank": 5
695
  },
696
  "chair": {
697
- "distance": "1.47 meters",
698
  "closeness rank": 6
699
  },
700
  "table": {
701
- "distance": "1.48 meters",
702
  "closeness rank": 7
703
  },
704
  "suitcase": {
705
- "distance": "2.58 meters",
706
  "closeness rank": 8
707
  }
708
  },
709
  "refrigerator": {
710
  "chair": {
711
- "distance": "0.68 meters",
712
  "closeness rank": 1
713
  },
714
  "ceiling light": {
715
- "distance": "0.74 meters",
716
  "closeness rank": 2
717
  },
718
  "table": {
719
- "distance": "1.01 meters",
720
  "closeness rank": 3
721
  },
722
  "suitcase": {
@@ -724,7 +724,7 @@
724
  "closeness rank": 4
725
  },
726
  "door": {
727
- "distance": "2.79 meters",
728
  "closeness rank": 5
729
  },
730
  "monitor": {
@@ -741,15 +741,5 @@
741
  }
742
  }
743
  },
744
- "appearance order": [
745
- "whiteboard",
746
- "table",
747
- "chair",
748
- "ceiling light",
749
- "suitcase",
750
- "door",
751
- "printer",
752
- "monitor",
753
- "refrigerator"
754
- ]
755
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
436
  "closest classes distance meters from": {
437
  "door": {
438
  "ceiling light": {
439
+ "distance": "5.03 meters",
440
  "closeness rank": 1
441
  },
442
  "chair": {
443
+ "distance": "1.26 meters",
444
  "closeness rank": 2
445
  },
446
  "suitcase": {
447
+ "distance": "1.55 meters",
448
  "closeness rank": 3
449
  },
450
  "whiteboard": {
 
452
  "closeness rank": 4
453
  },
454
  "table": {
455
+ "distance": "3.74 meters",
456
  "closeness rank": 5
457
  },
458
  "refrigerator": {
459
+ "distance": "3.13 meters",
460
  "closeness rank": 6
461
  },
462
  "monitor": {
 
464
  "closeness rank": 7
465
  },
466
  "printer": {
467
+ "distance": "5.31 meters",
468
  "closeness rank": 8
469
  }
470
  },
471
  "table": {
472
  "chair": {
473
+ "distance": "1.77 meters",
474
  "closeness rank": 1
475
  },
476
  "monitor": {
 
478
  "closeness rank": 2
479
  },
480
  "printer": {
481
+ "distance": "0.01 meters",
482
  "closeness rank": 3
483
  },
484
  "whiteboard": {
485
+ "distance": "3.41 meters",
486
  "closeness rank": 4
487
  },
488
  "refrigerator": {
489
+ "distance": "2.51 meters",
490
  "closeness rank": 5
491
  },
492
  "ceiling light": {
493
+ "distance": "1.77 meters",
494
  "closeness rank": 6
495
  },
496
  "door": {
497
+ "distance": "3.74 meters",
498
  "closeness rank": 7
499
  },
500
  "suitcase": {
501
+ "distance": "2.65 meters",
502
  "closeness rank": 8
503
  }
504
  },
505
  "printer": {
506
  "chair": {
507
+ "distance": "3.52 meters",
508
  "closeness rank": 1
509
  },
510
  "table": {
511
+ "distance": "0.01 meters",
512
  "closeness rank": 2
513
  },
514
  "monitor": {
515
+ "distance": "1.04 meters",
516
  "closeness rank": 3
517
  },
518
  "ceiling light": {
519
+ "distance": "1.51 meters",
520
  "closeness rank": 4
521
  },
522
  "whiteboard": {
523
+ "distance": "5.13 meters",
524
  "closeness rank": 5
525
  },
526
  "suitcase": {
527
+ "distance": "3.98 meters",
528
  "closeness rank": 6
529
  },
530
  "refrigerator": {
 
532
  "closeness rank": 7
533
  },
534
  "door": {
535
+ "distance": "5.31 meters",
536
  "closeness rank": 8
537
  }
538
  },
 
542
  "closeness rank": 1
543
  },
544
  "printer": {
545
+ "distance": "1.04 meters",
546
  "closeness rank": 2
547
  },
548
  "ceiling light": {
549
+ "distance": "2.5 meters",
550
  "closeness rank": 3
551
  },
552
  "chair": {
553
+ "distance": "2.04 meters",
554
  "closeness rank": 4
555
  },
556
  "whiteboard": {
557
+ "distance": "3.47 meters",
558
  "closeness rank": 5
559
  },
560
  "suitcase": {
561
+ "distance": "3.23 meters",
562
  "closeness rank": 6
563
  },
564
  "refrigerator": {
 
572
  },
573
  "suitcase": {
574
  "door": {
575
+ "distance": "1.55 meters",
576
  "closeness rank": 1
577
  },
578
  "refrigerator": {
 
584
  "closeness rank": 3
585
  },
586
  "table": {
587
+ "distance": "2.65 meters",
588
  "closeness rank": 4
589
  },
590
  "ceiling light": {
591
+ "distance": "3.49 meters",
592
  "closeness rank": 5
593
  },
594
  "whiteboard": {
 
596
  "closeness rank": 6
597
  },
598
  "monitor": {
599
+ "distance": "3.23 meters",
600
  "closeness rank": 7
601
  },
602
  "printer": {
603
+ "distance": "3.98 meters",
604
  "closeness rank": 8
605
  }
606
  },
607
  "chair": {
608
  "printer": {
609
+ "distance": "3.52 meters",
610
  "closeness rank": 1
611
  },
612
  "table": {
613
+ "distance": "1.77 meters",
614
  "closeness rank": 2
615
  },
616
  "whiteboard": {
617
+ "distance": "0.95 meters",
618
  "closeness rank": 3
619
  },
620
  "refrigerator": {
621
+ "distance": "3.21 meters",
622
  "closeness rank": 4
623
  },
624
  "door": {
625
+ "distance": "1.26 meters",
626
  "closeness rank": 5
627
  },
628
  "monitor": {
629
+ "distance": "2.04 meters",
630
  "closeness rank": 6
631
  },
632
  "ceiling light": {
633
+ "distance": "4.31 meters",
634
  "closeness rank": 7
635
  },
636
  "suitcase": {
 
640
  },
641
  "whiteboard": {
642
  "chair": {
643
+ "distance": "0.95 meters",
644
  "closeness rank": 1
645
  },
646
  "table": {
647
+ "distance": "3.41 meters",
648
  "closeness rank": 2
649
  },
650
  "ceiling light": {
651
+ "distance": "5.67 meters",
652
  "closeness rank": 3
653
  },
654
  "door": {
 
656
  "closeness rank": 4
657
  },
658
  "monitor": {
659
+ "distance": "3.47 meters",
660
  "closeness rank": 5
661
  },
662
  "suitcase": {
 
664
  "closeness rank": 6
665
  },
666
  "printer": {
667
+ "distance": "5.13 meters",
668
  "closeness rank": 7
669
  },
670
  "refrigerator": {
 
674
  },
675
  "ceiling light": {
676
  "door": {
677
+ "distance": "5.03 meters",
678
  "closeness rank": 1
679
  },
680
  "refrigerator": {
681
+ "distance": "1.01 meters",
682
  "closeness rank": 2
683
  },
684
  "whiteboard": {
685
+ "distance": "5.67 meters",
686
  "closeness rank": 3
687
  },
688
  "monitor": {
689
+ "distance": "2.5 meters",
690
  "closeness rank": 4
691
  },
692
  "printer": {
693
+ "distance": "1.51 meters",
694
  "closeness rank": 5
695
  },
696
  "chair": {
697
+ "distance": "4.31 meters",
698
  "closeness rank": 6
699
  },
700
  "table": {
701
+ "distance": "1.77 meters",
702
  "closeness rank": 7
703
  },
704
  "suitcase": {
705
+ "distance": "3.49 meters",
706
  "closeness rank": 8
707
  }
708
  },
709
  "refrigerator": {
710
  "chair": {
711
+ "distance": "3.21 meters",
712
  "closeness rank": 1
713
  },
714
  "ceiling light": {
715
+ "distance": "1.01 meters",
716
  "closeness rank": 2
717
  },
718
  "table": {
719
+ "distance": "2.51 meters",
720
  "closeness rank": 3
721
  },
722
  "suitcase": {
 
724
  "closeness rank": 4
725
  },
726
  "door": {
727
+ "distance": "3.13 meters",
728
  "closeness rank": 5
729
  },
730
  "monitor": {
 
741
  }
742
  }
743
  },
744
+ "appearance order": ["whiteboard", "table", "chair", "ceiling light", "suitcase", "door", "printer", "monitor", "refrigerator"]
 
 
 
 
 
 
 
 
 
 
745
  }
data/spatial codes/ground truth/explicit/7831862f02.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -167,17 +167,17 @@
167
  "closeness rank": 1
168
  },
169
  "sofa": {
170
- "distance": "1.88 meters",
171
  "closeness rank": 2
172
  },
173
  "chair": {
174
- "distance": "4.71 meters",
175
  "closeness rank": 3
176
  }
177
  },
178
  "chair": {
179
  "ceiling light": {
180
- "distance": "1.86 meters",
181
  "closeness rank": 1
182
  },
183
  "sofa": {
@@ -185,17 +185,17 @@
185
  "closeness rank": 2
186
  },
187
  "door": {
188
- "distance": "4.71 meters",
189
  "closeness rank": 3
190
  }
191
  },
192
  "sofa": {
193
  "ceiling light": {
194
- "distance": "1.45 meters",
195
  "closeness rank": 1
196
  },
197
  "door": {
198
- "distance": "1.88 meters",
199
  "closeness rank": 2
200
  },
201
  "chair": {
@@ -209,19 +209,14 @@
209
  "closeness rank": 1
210
  },
211
  "sofa": {
212
- "distance": "1.45 meters",
213
  "closeness rank": 2
214
  },
215
  "chair": {
216
- "distance": "1.86 meters",
217
  "closeness rank": 3
218
  }
219
  }
220
  },
221
- "appearance order": [
222
- "door",
223
- "chair",
224
- "sofa",
225
- "ceiling light"
226
- ]
227
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
167
  "closeness rank": 1
168
  },
169
  "sofa": {
170
+ "distance": "2.37 meters",
171
  "closeness rank": 2
172
  },
173
  "chair": {
174
+ "distance": "5.07 meters",
175
  "closeness rank": 3
176
  }
177
  },
178
  "chair": {
179
  "ceiling light": {
180
+ "distance": "4.33 meters",
181
  "closeness rank": 1
182
  },
183
  "sofa": {
 
185
  "closeness rank": 2
186
  },
187
  "door": {
188
+ "distance": "5.07 meters",
189
  "closeness rank": 3
190
  }
191
  },
192
  "sofa": {
193
  "ceiling light": {
194
+ "distance": "1.93 meters",
195
  "closeness rank": 1
196
  },
197
  "door": {
198
+ "distance": "2.37 meters",
199
  "closeness rank": 2
200
  },
201
  "chair": {
 
209
  "closeness rank": 1
210
  },
211
  "sofa": {
212
+ "distance": "1.93 meters",
213
  "closeness rank": 2
214
  },
215
  "chair": {
216
+ "distance": "4.33 meters",
217
  "closeness rank": 3
218
  }
219
  }
220
  },
221
+ "appearance order": ["door", "chair", "sofa", "ceiling light"]
 
 
 
 
 
222
  }
data/spatial codes/ground truth/explicit/7b6477cb95.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -377,7 +377,7 @@
377
  "closeness rank": 3
378
  },
379
  "monitor": {
380
- "distance": "1.53 meters",
381
  "closeness rank": 4
382
  },
383
  "chair": {
@@ -385,15 +385,15 @@
385
  "closeness rank": 5
386
  },
387
  "telephone": {
388
- "distance": "1.95 meters",
389
  "closeness rank": 6
390
  },
391
  "cup": {
392
- "distance": "2.01 meters",
393
  "closeness rank": 7
394
  },
395
  "computer mouse": {
396
- "distance": "2.01 meters",
397
  "closeness rank": 8
398
  },
399
  "table": {
@@ -409,21 +409,21 @@
409
  "closeness rank": 11
410
  },
411
  "heater": {
412
- "distance": "2.37 meters",
413
  "closeness rank": 12
414
  },
415
  "trash can": {
416
- "distance": "2.48 meters",
417
  "closeness rank": 13
418
  }
419
  },
420
  "whiteboard": {
421
  "chair": {
422
- "distance": "0.1 meters",
423
  "closeness rank": 1
424
  },
425
  "trash can": {
426
- "distance": "0.55 meters",
427
  "closeness rank": 2
428
  },
429
  "bookshelf": {
@@ -439,7 +439,7 @@
439
  "closeness rank": 5
440
  },
441
  "heater": {
442
- "distance": "0.94 meters",
443
  "closeness rank": 6
444
  },
445
  "keyboard": {
@@ -473,7 +473,7 @@
473
  },
474
  "monitor": {
475
  "table": {
476
- "distance": "0.0 meters",
477
  "closeness rank": 1
478
  },
479
  "telephone": {
@@ -481,11 +481,11 @@
481
  "closeness rank": 2
482
  },
483
  "keyboard": {
484
- "distance": "0.02 meters",
485
  "closeness rank": 3
486
  },
487
  "power strip": {
488
- "distance": "0.03 meters",
489
  "closeness rank": 4
490
  },
491
  "computer mouse": {
@@ -493,15 +493,15 @@
493
  "closeness rank": 5
494
  },
495
  "cup": {
496
- "distance": "0.1 meters",
497
  "closeness rank": 6
498
  },
499
  "chair": {
500
- "distance": "0.21 meters",
501
  "closeness rank": 7
502
  },
503
  "heater": {
504
- "distance": "0.4 meters",
505
  "closeness rank": 8
506
  },
507
  "whiteboard": {
@@ -509,53 +509,53 @@
509
  "closeness rank": 9
510
  },
511
  "trash can": {
512
- "distance": "1.33 meters",
513
  "closeness rank": 10
514
  },
515
  "ceiling light": {
516
- "distance": "1.53 meters",
517
  "closeness rank": 11
518
  },
519
  "bookshelf": {
520
- "distance": "2.0 meters",
521
  "closeness rank": 12
522
  },
523
  "door": {
524
- "distance": "2.55 meters",
525
  "closeness rank": 13
526
  }
527
  },
528
  "heater": {
529
  "table": {
530
- "distance": "0.07 meters",
531
  "closeness rank": 1
532
  },
533
  "telephone": {
534
- "distance": "0.31 meters",
535
  "closeness rank": 2
536
  },
537
  "chair": {
538
- "distance": "0.33 meters",
539
  "closeness rank": 3
540
  },
541
  "monitor": {
542
- "distance": "0.4 meters",
543
  "closeness rank": 4
544
  },
545
  "keyboard": {
546
- "distance": "0.58 meters",
547
  "closeness rank": 5
548
  },
549
  "computer mouse": {
550
- "distance": "0.72 meters",
551
  "closeness rank": 6
552
  },
553
  "whiteboard": {
554
- "distance": "0.94 meters",
555
  "closeness rank": 7
556
  },
557
  "cup": {
558
- "distance": "1.23 meters",
559
  "closeness rank": 8
560
  },
561
  "power strip": {
@@ -563,7 +563,7 @@
563
  "closeness rank": 9
564
  },
565
  "ceiling light": {
566
- "distance": "2.37 meters",
567
  "closeness rank": 10
568
  },
569
  "trash can": {
@@ -585,31 +585,31 @@
585
  "closeness rank": 1
586
  },
587
  "table": {
588
- "distance": "0.0 meters",
589
  "closeness rank": 2
590
  },
591
  "computer mouse": {
592
- "distance": "0.12 meters",
593
  "closeness rank": 3
594
  },
595
  "chair": {
596
- "distance": "0.24 meters",
597
  "closeness rank": 4
598
  },
599
  "heater": {
600
- "distance": "0.31 meters",
601
  "closeness rank": 5
602
  },
603
  "keyboard": {
604
- "distance": "0.64 meters",
605
  "closeness rank": 6
606
  },
607
  "cup": {
608
- "distance": "0.66 meters",
609
  "closeness rank": 7
610
  },
611
  "power strip": {
612
- "distance": "1.2 meters",
613
  "closeness rank": 8
614
  },
615
  "whiteboard": {
@@ -617,11 +617,11 @@
617
  "closeness rank": 9
618
  },
619
  "ceiling light": {
620
- "distance": "1.95 meters",
621
  "closeness rank": 10
622
  },
623
  "trash can": {
624
- "distance": "2.94 meters",
625
  "closeness rank": 11
626
  },
627
  "bookshelf": {
@@ -639,7 +639,7 @@
639
  "closeness rank": 1
640
  },
641
  "monitor": {
642
- "distance": "0.03 meters",
643
  "closeness rank": 2
644
  },
645
  "keyboard": {
@@ -651,7 +651,7 @@
651
  "closeness rank": 4
652
  },
653
  "cup": {
654
- "distance": "0.48 meters",
655
  "closeness rank": 5
656
  },
657
  "computer mouse": {
@@ -659,7 +659,7 @@
659
  "closeness rank": 6
660
  },
661
  "telephone": {
662
- "distance": "1.2 meters",
663
  "closeness rank": 7
664
  },
665
  "whiteboard": {
@@ -671,7 +671,7 @@
671
  "closeness rank": 9
672
  },
673
  "trash can": {
674
- "distance": "1.85 meters",
675
  "closeness rank": 10
676
  },
677
  "bookshelf": {
@@ -693,19 +693,19 @@
693
  "closeness rank": 1
694
  },
695
  "keyboard": {
696
- "distance": "0.01 meters",
697
  "closeness rank": 2
698
  },
699
  "cup": {
700
- "distance": "0.03 meters",
701
  "closeness rank": 3
702
  },
703
  "whiteboard": {
704
- "distance": "0.1 meters",
705
  "closeness rank": 4
706
  },
707
  "computer mouse": {
708
- "distance": "0.13 meters",
709
  "closeness rank": 5
710
  },
711
  "power strip": {
@@ -713,19 +713,19 @@
713
  "closeness rank": 6
714
  },
715
  "monitor": {
716
- "distance": "0.21 meters",
717
  "closeness rank": 7
718
  },
719
  "telephone": {
720
- "distance": "0.24 meters",
721
  "closeness rank": 8
722
  },
723
  "trash can": {
724
- "distance": "0.31 meters",
725
  "closeness rank": 9
726
  },
727
  "heater": {
728
- "distance": "0.33 meters",
729
  "closeness rank": 10
730
  },
731
  "bookshelf": {
@@ -747,11 +747,11 @@
747
  "closeness rank": 1
748
  },
749
  "computer mouse": {
750
- "distance": "0.0 meters",
751
  "closeness rank": 2
752
  },
753
  "cup": {
754
- "distance": "0.0 meters",
755
  "closeness rank": 3
756
  },
757
  "keyboard": {
@@ -759,7 +759,7 @@
759
  "closeness rank": 4
760
  },
761
  "monitor": {
762
- "distance": "0.0 meters",
763
  "closeness rank": 5
764
  },
765
  "power strip": {
@@ -767,15 +767,15 @@
767
  "closeness rank": 6
768
  },
769
  "telephone": {
770
- "distance": "0.0 meters",
771
  "closeness rank": 7
772
  },
773
  "heater": {
774
- "distance": "0.07 meters",
775
  "closeness rank": 8
776
  },
777
  "trash can": {
778
- "distance": "0.74 meters",
779
  "closeness rank": 9
780
  },
781
  "whiteboard": {
@@ -797,35 +797,35 @@
797
  },
798
  "trash can": {
799
  "chair": {
800
- "distance": "0.31 meters",
801
  "closeness rank": 1
802
  },
803
  "whiteboard": {
804
- "distance": "0.55 meters",
805
  "closeness rank": 2
806
  },
807
  "table": {
808
- "distance": "0.74 meters",
809
  "closeness rank": 3
810
  },
811
  "monitor": {
812
- "distance": "1.33 meters",
813
  "closeness rank": 4
814
  },
815
  "power strip": {
816
- "distance": "1.85 meters",
817
  "closeness rank": 5
818
  },
819
  "keyboard": {
820
- "distance": "1.97 meters",
821
  "closeness rank": 6
822
  },
823
  "cup": {
824
- "distance": "2.45 meters",
825
  "closeness rank": 7
826
  },
827
  "ceiling light": {
828
- "distance": "2.48 meters",
829
  "closeness rank": 8
830
  },
831
  "door": {
@@ -833,7 +833,7 @@
833
  "closeness rank": 9
834
  },
835
  "computer mouse": {
836
- "distance": "2.73 meters",
837
  "closeness rank": 10
838
  },
839
  "heater": {
@@ -841,7 +841,7 @@
841
  "closeness rank": 11
842
  },
843
  "telephone": {
844
- "distance": "2.94 meters",
845
  "closeness rank": 12
846
  },
847
  "bookshelf": {
@@ -879,7 +879,7 @@
879
  "closeness rank": 7
880
  },
881
  "monitor": {
882
- "distance": "2.55 meters",
883
  "closeness rank": 8
884
  },
885
  "keyboard": {
@@ -933,7 +933,7 @@
933
  "closeness rank": 7
934
  },
935
  "monitor": {
936
- "distance": "2.0 meters",
937
  "closeness rank": 8
938
  },
939
  "cup": {
@@ -963,11 +963,11 @@
963
  "closeness rank": 1
964
  },
965
  "chair": {
966
- "distance": "0.01 meters",
967
  "closeness rank": 2
968
  },
969
  "monitor": {
970
- "distance": "0.02 meters",
971
  "closeness rank": 3
972
  },
973
  "power strip": {
@@ -979,11 +979,11 @@
979
  "closeness rank": 5
980
  },
981
  "heater": {
982
- "distance": "0.58 meters",
983
  "closeness rank": 6
984
  },
985
  "telephone": {
986
- "distance": "0.64 meters",
987
  "closeness rank": 7
988
  },
989
  "computer mouse": {
@@ -999,7 +999,7 @@
999
  "closeness rank": 10
1000
  },
1001
  "trash can": {
1002
- "distance": "1.97 meters",
1003
  "closeness rank": 11
1004
  },
1005
  "ceiling light": {
@@ -1013,15 +1013,15 @@
1013
  },
1014
  "cup": {
1015
  "table": {
1016
- "distance": "0.0 meters",
1017
  "closeness rank": 1
1018
  },
1019
  "chair": {
1020
- "distance": "0.03 meters",
1021
  "closeness rank": 2
1022
  },
1023
  "monitor": {
1024
- "distance": "0.1 meters",
1025
  "closeness rank": 3
1026
  },
1027
  "keyboard": {
@@ -1033,15 +1033,15 @@
1033
  "closeness rank": 5
1034
  },
1035
  "power strip": {
1036
- "distance": "0.48 meters",
1037
  "closeness rank": 6
1038
  },
1039
  "telephone": {
1040
- "distance": "0.66 meters",
1041
  "closeness rank": 7
1042
  },
1043
  "heater": {
1044
- "distance": "1.23 meters",
1045
  "closeness rank": 8
1046
  },
1047
  "whiteboard": {
@@ -1049,7 +1049,7 @@
1049
  "closeness rank": 9
1050
  },
1051
  "ceiling light": {
1052
- "distance": "2.01 meters",
1053
  "closeness rank": 10
1054
  },
1055
  "bookshelf": {
@@ -1057,7 +1057,7 @@
1057
  "closeness rank": 11
1058
  },
1059
  "trash can": {
1060
- "distance": "2.45 meters",
1061
  "closeness rank": 12
1062
  },
1063
  "door": {
@@ -1067,7 +1067,7 @@
1067
  },
1068
  "computer mouse": {
1069
  "table": {
1070
- "distance": "0.0 meters",
1071
  "closeness rank": 1
1072
  },
1073
  "monitor": {
@@ -1075,11 +1075,11 @@
1075
  "closeness rank": 2
1076
  },
1077
  "telephone": {
1078
- "distance": "0.12 meters",
1079
  "closeness rank": 3
1080
  },
1081
  "chair": {
1082
- "distance": "0.13 meters",
1083
  "closeness rank": 4
1084
  },
1085
  "cup": {
@@ -1087,7 +1087,7 @@
1087
  "closeness rank": 5
1088
  },
1089
  "heater": {
1090
- "distance": "0.72 meters",
1091
  "closeness rank": 6
1092
  },
1093
  "keyboard": {
@@ -1103,11 +1103,11 @@
1103
  "closeness rank": 9
1104
  },
1105
  "ceiling light": {
1106
- "distance": "2.01 meters",
1107
  "closeness rank": 10
1108
  },
1109
  "trash can": {
1110
- "distance": "2.73 meters",
1111
  "closeness rank": 11
1112
  },
1113
  "bookshelf": {
@@ -1120,20 +1120,5 @@
1120
  }
1121
  }
1122
  },
1123
- "appearance order": [
1124
- "ceiling light",
1125
- "whiteboard",
1126
- "monitor",
1127
- "heater",
1128
- "telephone",
1129
- "power strip",
1130
- "chair",
1131
- "table",
1132
- "trash can",
1133
- "door",
1134
- "bookshelf",
1135
- "keyboard",
1136
- "cup",
1137
- "computer mouse"
1138
- ]
1139
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
377
  "closeness rank": 3
378
  },
379
  "monitor": {
380
+ "distance": "2.49 meters",
381
  "closeness rank": 4
382
  },
383
  "chair": {
 
385
  "closeness rank": 5
386
  },
387
  "telephone": {
388
+ "distance": "2.96 meters",
389
  "closeness rank": 6
390
  },
391
  "cup": {
392
+ "distance": "2.37 meters",
393
  "closeness rank": 7
394
  },
395
  "computer mouse": {
396
+ "distance": "2.78 meters",
397
  "closeness rank": 8
398
  },
399
  "table": {
 
409
  "closeness rank": 11
410
  },
411
  "heater": {
412
+ "distance": "3.45 meters",
413
  "closeness rank": 12
414
  },
415
  "trash can": {
416
+ "distance": "3.03 meters",
417
  "closeness rank": 13
418
  }
419
  },
420
  "whiteboard": {
421
  "chair": {
422
+ "distance": "0.67 meters",
423
  "closeness rank": 1
424
  },
425
  "trash can": {
426
+ "distance": "2.75 meters",
427
  "closeness rank": 2
428
  },
429
  "bookshelf": {
 
439
  "closeness rank": 5
440
  },
441
  "heater": {
442
+ "distance": "1.91 meters",
443
  "closeness rank": 6
444
  },
445
  "keyboard": {
 
473
  },
474
  "monitor": {
475
  "table": {
476
+ "distance": "0.5 meters",
477
  "closeness rank": 1
478
  },
479
  "telephone": {
 
481
  "closeness rank": 2
482
  },
483
  "keyboard": {
484
+ "distance": "0.54 meters",
485
  "closeness rank": 3
486
  },
487
  "power strip": {
488
+ "distance": "0.82 meters",
489
  "closeness rank": 4
490
  },
491
  "computer mouse": {
 
493
  "closeness rank": 5
494
  },
495
  "cup": {
496
+ "distance": "0.36 meters",
497
  "closeness rank": 6
498
  },
499
  "chair": {
500
+ "distance": "1.14 meters",
501
  "closeness rank": 7
502
  },
503
  "heater": {
504
+ "distance": "0.6 meters",
505
  "closeness rank": 8
506
  },
507
  "whiteboard": {
 
509
  "closeness rank": 9
510
  },
511
  "trash can": {
512
+ "distance": "2.56 meters",
513
  "closeness rank": 10
514
  },
515
  "ceiling light": {
516
+ "distance": "2.49 meters",
517
  "closeness rank": 11
518
  },
519
  "bookshelf": {
520
+ "distance": "2.31 meters",
521
  "closeness rank": 12
522
  },
523
  "door": {
524
+ "distance": "2.6 meters",
525
  "closeness rank": 13
526
  }
527
  },
528
  "heater": {
529
  "table": {
530
+ "distance": "0.95 meters",
531
  "closeness rank": 1
532
  },
533
  "telephone": {
534
+ "distance": "0.65 meters",
535
  "closeness rank": 2
536
  },
537
  "chair": {
538
+ "distance": "1.67 meters",
539
  "closeness rank": 3
540
  },
541
  "monitor": {
542
+ "distance": "0.6 meters",
543
  "closeness rank": 4
544
  },
545
  "keyboard": {
546
+ "distance": "1.48 meters",
547
  "closeness rank": 5
548
  },
549
  "computer mouse": {
550
+ "distance": "0.96 meters",
551
  "closeness rank": 6
552
  },
553
  "whiteboard": {
554
+ "distance": "1.91 meters",
555
  "closeness rank": 7
556
  },
557
  "cup": {
558
+ "distance": "1.37 meters",
559
  "closeness rank": 8
560
  },
561
  "power strip": {
 
563
  "closeness rank": 9
564
  },
565
  "ceiling light": {
566
+ "distance": "3.45 meters",
567
  "closeness rank": 10
568
  },
569
  "trash can": {
 
585
  "closeness rank": 1
586
  },
587
  "table": {
588
+ "distance": "0.86 meters",
589
  "closeness rank": 2
590
  },
591
  "computer mouse": {
592
+ "distance": "0.14 meters",
593
  "closeness rank": 3
594
  },
595
  "chair": {
596
+ "distance": "1.53 meters",
597
  "closeness rank": 4
598
  },
599
  "heater": {
600
+ "distance": "0.65 meters",
601
  "closeness rank": 5
602
  },
603
  "keyboard": {
604
+ "distance": "0.9 meters",
605
  "closeness rank": 6
606
  },
607
  "cup": {
608
+ "distance": "0.71 meters",
609
  "closeness rank": 7
610
  },
611
  "power strip": {
612
+ "distance": "1.22 meters",
613
  "closeness rank": 8
614
  },
615
  "whiteboard": {
 
617
  "closeness rank": 9
618
  },
619
  "ceiling light": {
620
+ "distance": "2.96 meters",
621
  "closeness rank": 10
622
  },
623
  "trash can": {
624
+ "distance": "2.95 meters",
625
  "closeness rank": 11
626
  },
627
  "bookshelf": {
 
639
  "closeness rank": 1
640
  },
641
  "monitor": {
642
+ "distance": "0.82 meters",
643
  "closeness rank": 2
644
  },
645
  "keyboard": {
 
651
  "closeness rank": 4
652
  },
653
  "cup": {
654
+ "distance": "0.49 meters",
655
  "closeness rank": 5
656
  },
657
  "computer mouse": {
 
659
  "closeness rank": 6
660
  },
661
  "telephone": {
662
+ "distance": "1.22 meters",
663
  "closeness rank": 7
664
  },
665
  "whiteboard": {
 
671
  "closeness rank": 9
672
  },
673
  "trash can": {
674
+ "distance": "1.86 meters",
675
  "closeness rank": 10
676
  },
677
  "bookshelf": {
 
693
  "closeness rank": 1
694
  },
695
  "keyboard": {
696
+ "distance": "0.33 meters",
697
  "closeness rank": 2
698
  },
699
  "cup": {
700
+ "distance": "0.79 meters",
701
  "closeness rank": 3
702
  },
703
  "whiteboard": {
704
+ "distance": "0.67 meters",
705
  "closeness rank": 4
706
  },
707
  "computer mouse": {
708
+ "distance": "1.27 meters",
709
  "closeness rank": 5
710
  },
711
  "power strip": {
 
713
  "closeness rank": 6
714
  },
715
  "monitor": {
716
+ "distance": "1.14 meters",
717
  "closeness rank": 7
718
  },
719
  "telephone": {
720
+ "distance": "1.53 meters",
721
  "closeness rank": 8
722
  },
723
  "trash can": {
724
+ "distance": "1.17 meters",
725
  "closeness rank": 9
726
  },
727
  "heater": {
728
+ "distance": "1.67 meters",
729
  "closeness rank": 10
730
  },
731
  "bookshelf": {
 
747
  "closeness rank": 1
748
  },
749
  "computer mouse": {
750
+ "distance": "0.62 meters",
751
  "closeness rank": 2
752
  },
753
  "cup": {
754
+ "distance": "0.2 meters",
755
  "closeness rank": 3
756
  },
757
  "keyboard": {
 
759
  "closeness rank": 4
760
  },
761
  "monitor": {
762
+ "distance": "0.5 meters",
763
  "closeness rank": 5
764
  },
765
  "power strip": {
 
767
  "closeness rank": 6
768
  },
769
  "telephone": {
770
+ "distance": "0.86 meters",
771
  "closeness rank": 7
772
  },
773
  "heater": {
774
+ "distance": "0.95 meters",
775
  "closeness rank": 8
776
  },
777
  "trash can": {
778
+ "distance": "0.88 meters",
779
  "closeness rank": 9
780
  },
781
  "whiteboard": {
 
797
  },
798
  "trash can": {
799
  "chair": {
800
+ "distance": "1.17 meters",
801
  "closeness rank": 1
802
  },
803
  "whiteboard": {
804
+ "distance": "2.75 meters",
805
  "closeness rank": 2
806
  },
807
  "table": {
808
+ "distance": "0.88 meters",
809
  "closeness rank": 3
810
  },
811
  "monitor": {
812
+ "distance": "2.56 meters",
813
  "closeness rank": 4
814
  },
815
  "power strip": {
816
+ "distance": "1.86 meters",
817
  "closeness rank": 5
818
  },
819
  "keyboard": {
820
+ "distance": "2.23 meters",
821
  "closeness rank": 6
822
  },
823
  "cup": {
824
+ "distance": "2.54 meters",
825
  "closeness rank": 7
826
  },
827
  "ceiling light": {
828
+ "distance": "3.03 meters",
829
  "closeness rank": 8
830
  },
831
  "door": {
 
833
  "closeness rank": 9
834
  },
835
  "computer mouse": {
836
+ "distance": "2.8 meters",
837
  "closeness rank": 10
838
  },
839
  "heater": {
 
841
  "closeness rank": 11
842
  },
843
  "telephone": {
844
+ "distance": "2.95 meters",
845
  "closeness rank": 12
846
  },
847
  "bookshelf": {
 
879
  "closeness rank": 7
880
  },
881
  "monitor": {
882
+ "distance": "2.6 meters",
883
  "closeness rank": 8
884
  },
885
  "keyboard": {
 
933
  "closeness rank": 7
934
  },
935
  "monitor": {
936
+ "distance": "2.31 meters",
937
  "closeness rank": 8
938
  },
939
  "cup": {
 
963
  "closeness rank": 1
964
  },
965
  "chair": {
966
+ "distance": "0.33 meters",
967
  "closeness rank": 2
968
  },
969
  "monitor": {
970
+ "distance": "0.54 meters",
971
  "closeness rank": 3
972
  },
973
  "power strip": {
 
979
  "closeness rank": 5
980
  },
981
  "heater": {
982
+ "distance": "1.48 meters",
983
  "closeness rank": 6
984
  },
985
  "telephone": {
986
+ "distance": "0.9 meters",
987
  "closeness rank": 7
988
  },
989
  "computer mouse": {
 
999
  "closeness rank": 10
1000
  },
1001
  "trash can": {
1002
+ "distance": "2.23 meters",
1003
  "closeness rank": 11
1004
  },
1005
  "ceiling light": {
 
1013
  },
1014
  "cup": {
1015
  "table": {
1016
+ "distance": "0.2 meters",
1017
  "closeness rank": 1
1018
  },
1019
  "chair": {
1020
+ "distance": "0.79 meters",
1021
  "closeness rank": 2
1022
  },
1023
  "monitor": {
1024
+ "distance": "0.36 meters",
1025
  "closeness rank": 3
1026
  },
1027
  "keyboard": {
 
1033
  "closeness rank": 5
1034
  },
1035
  "power strip": {
1036
+ "distance": "0.49 meters",
1037
  "closeness rank": 6
1038
  },
1039
  "telephone": {
1040
+ "distance": "0.71 meters",
1041
  "closeness rank": 7
1042
  },
1043
  "heater": {
1044
+ "distance": "1.37 meters",
1045
  "closeness rank": 8
1046
  },
1047
  "whiteboard": {
 
1049
  "closeness rank": 9
1050
  },
1051
  "ceiling light": {
1052
+ "distance": "2.37 meters",
1053
  "closeness rank": 10
1054
  },
1055
  "bookshelf": {
 
1057
  "closeness rank": 11
1058
  },
1059
  "trash can": {
1060
+ "distance": "2.54 meters",
1061
  "closeness rank": 12
1062
  },
1063
  "door": {
 
1067
  },
1068
  "computer mouse": {
1069
  "table": {
1070
+ "distance": "0.62 meters",
1071
  "closeness rank": 1
1072
  },
1073
  "monitor": {
 
1075
  "closeness rank": 2
1076
  },
1077
  "telephone": {
1078
+ "distance": "0.14 meters",
1079
  "closeness rank": 3
1080
  },
1081
  "chair": {
1082
+ "distance": "1.27 meters",
1083
  "closeness rank": 4
1084
  },
1085
  "cup": {
 
1087
  "closeness rank": 5
1088
  },
1089
  "heater": {
1090
+ "distance": "0.96 meters",
1091
  "closeness rank": 6
1092
  },
1093
  "keyboard": {
 
1103
  "closeness rank": 9
1104
  },
1105
  "ceiling light": {
1106
+ "distance": "2.78 meters",
1107
  "closeness rank": 10
1108
  },
1109
  "trash can": {
1110
+ "distance": "2.8 meters",
1111
  "closeness rank": 11
1112
  },
1113
  "bookshelf": {
 
1120
  }
1121
  }
1122
  },
1123
+ "appearance order": ["ceiling light", "whiteboard", "monitor", "heater", "telephone", "power strip", "chair", "table", "trash can", "door", "bookshelf", "keyboard", "cup", "computer mouse"]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1124
  }
data/spatial codes/ground truth/explicit/825d228aec.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -165,7 +165,7 @@
165
  "closeness rank": 2
166
  },
167
  "trash can": {
168
- "distance": "0.72 meters",
169
  "closeness rank": 3
170
  },
171
  "door": {
@@ -187,7 +187,7 @@
187
  "closeness rank": 2
188
  },
189
  "power strip": {
190
- "distance": "0.72 meters",
191
  "closeness rank": 3
192
  },
193
  "printer": {
@@ -195,7 +195,7 @@
195
  "closeness rank": 4
196
  },
197
  "exhaust fan": {
198
- "distance": "2.92 meters",
199
  "closeness rank": 5
200
  }
201
  },
@@ -213,7 +213,7 @@
213
  "closeness rank": 3
214
  },
215
  "exhaust fan": {
216
- "distance": "1.23 meters",
217
  "closeness rank": 4
218
  },
219
  "trash can": {
@@ -231,7 +231,7 @@
231
  "closeness rank": 2
232
  },
233
  "exhaust fan": {
234
- "distance": "1.07 meters",
235
  "closeness rank": 3
236
  },
237
  "printer": {
@@ -267,11 +267,11 @@
267
  },
268
  "exhaust fan": {
269
  "door": {
270
- "distance": "1.07 meters",
271
  "closeness rank": 1
272
  },
273
  "printer": {
274
- "distance": "1.23 meters",
275
  "closeness rank": 2
276
  },
277
  "table": {
@@ -283,17 +283,10 @@
283
  "closeness rank": 4
284
  },
285
  "trash can": {
286
- "distance": "2.92 meters",
287
  "closeness rank": 5
288
  }
289
  }
290
  },
291
- "appearance order": [
292
- "power strip",
293
- "trash can",
294
- "printer",
295
- "door",
296
- "table",
297
- "exhaust fan"
298
- ]
299
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
165
  "closeness rank": 2
166
  },
167
  "trash can": {
168
+ "distance": "1.39 meters",
169
  "closeness rank": 3
170
  },
171
  "door": {
 
187
  "closeness rank": 2
188
  },
189
  "power strip": {
190
+ "distance": "1.39 meters",
191
  "closeness rank": 3
192
  },
193
  "printer": {
 
195
  "closeness rank": 4
196
  },
197
  "exhaust fan": {
198
+ "distance": "3.21 meters",
199
  "closeness rank": 5
200
  }
201
  },
 
213
  "closeness rank": 3
214
  },
215
  "exhaust fan": {
216
+ "distance": "1.27 meters",
217
  "closeness rank": 4
218
  },
219
  "trash can": {
 
231
  "closeness rank": 2
232
  },
233
  "exhaust fan": {
234
+ "distance": "1.47 meters",
235
  "closeness rank": 3
236
  },
237
  "printer": {
 
267
  },
268
  "exhaust fan": {
269
  "door": {
270
+ "distance": "1.47 meters",
271
  "closeness rank": 1
272
  },
273
  "printer": {
274
+ "distance": "1.27 meters",
275
  "closeness rank": 2
276
  },
277
  "table": {
 
283
  "closeness rank": 4
284
  },
285
  "trash can": {
286
+ "distance": "3.21 meters",
287
  "closeness rank": 5
288
  }
289
  }
290
  },
291
+ "appearance order": ["power strip", "trash can", "printer", "door", "table", "exhaust fan"]
 
 
 
 
 
 
 
292
  }
data/spatial codes/ground truth/explicit/9071e139d9.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -290,19 +290,19 @@
290
  "closest classes distance meters from": {
291
  "chair": {
292
  "table": {
293
- "distance": "0.0 meters",
294
  "closeness rank": 1
295
  },
296
  "whiteboard": {
297
- "distance": "1.09 meters",
298
  "closeness rank": 2
299
  },
300
  "clock": {
301
- "distance": "1.77 meters",
302
  "closeness rank": 3
303
  },
304
  "sofa": {
305
- "distance": "2.17 meters",
306
  "closeness rank": 4
307
  },
308
  "door": {
@@ -316,53 +316,53 @@
316
  },
317
  "table": {
318
  "chair": {
319
- "distance": "0.0 meters",
320
  "closeness rank": 1
321
  },
322
  "sofa": {
323
- "distance": "0.0 meters",
324
  "closeness rank": 2
325
  },
326
  "cushion": {
327
- "distance": "0.28 meters",
328
  "closeness rank": 3
329
  },
330
  "whiteboard": {
331
- "distance": "1.34 meters",
332
  "closeness rank": 4
333
  },
334
  "clock": {
335
- "distance": "1.94 meters",
336
  "closeness rank": 5
337
  },
338
  "door": {
339
- "distance": "2.2 meters",
340
  "closeness rank": 6
341
  }
342
  },
343
  "sofa": {
344
  "cushion": {
345
- "distance": "0.0 meters",
346
  "closeness rank": 1
347
  },
348
  "table": {
349
- "distance": "0.0 meters",
350
  "closeness rank": 2
351
  },
352
  "door": {
353
- "distance": "0.4 meters",
354
  "closeness rank": 3
355
  },
356
  "chair": {
357
- "distance": "2.17 meters",
358
  "closeness rank": 4
359
  },
360
  "whiteboard": {
361
- "distance": "4.83 meters",
362
  "closeness rank": 5
363
  },
364
  "clock": {
365
- "distance": "5.09 meters",
366
  "closeness rank": 6
367
  }
368
  },
@@ -372,15 +372,15 @@
372
  "closeness rank": 1
373
  },
374
  "chair": {
375
- "distance": "1.77 meters",
376
  "closeness rank": 2
377
  },
378
  "table": {
379
- "distance": "1.94 meters",
380
  "closeness rank": 3
381
  },
382
  "sofa": {
383
- "distance": "5.09 meters",
384
  "closeness rank": 4
385
  },
386
  "door": {
@@ -398,15 +398,15 @@
398
  "closeness rank": 1
399
  },
400
  "chair": {
401
- "distance": "1.09 meters",
402
  "closeness rank": 2
403
  },
404
  "table": {
405
- "distance": "1.34 meters",
406
  "closeness rank": 3
407
  },
408
  "sofa": {
409
- "distance": "4.83 meters",
410
  "closeness rank": 4
411
  },
412
  "door": {
@@ -420,15 +420,15 @@
420
  },
421
  "door": {
422
  "sofa": {
423
- "distance": "0.4 meters",
424
  "closeness rank": 1
425
  },
426
  "cushion": {
427
- "distance": "0.86 meters",
428
  "closeness rank": 2
429
  },
430
  "table": {
431
- "distance": "2.2 meters",
432
  "closeness rank": 3
433
  },
434
  "chair": {
@@ -446,15 +446,15 @@
446
  },
447
  "cushion": {
448
  "sofa": {
449
- "distance": "0.0 meters",
450
  "closeness rank": 1
451
  },
452
  "table": {
453
- "distance": "0.28 meters",
454
  "closeness rank": 2
455
  },
456
  "door": {
457
- "distance": "0.86 meters",
458
  "closeness rank": 3
459
  },
460
  "chair": {
@@ -471,13 +471,5 @@
471
  }
472
  }
473
  },
474
- "appearance order": [
475
- "chair",
476
- "table",
477
- "sofa",
478
- "clock",
479
- "whiteboard",
480
- "door",
481
- "cushion"
482
- ]
483
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
290
  "closest classes distance meters from": {
291
  "chair": {
292
  "table": {
293
+ "distance": "1.65 meters",
294
  "closeness rank": 1
295
  },
296
  "whiteboard": {
297
+ "distance": "1.6 meters",
298
  "closeness rank": 2
299
  },
300
  "clock": {
301
+ "distance": "2.73 meters",
302
  "closeness rank": 3
303
  },
304
  "sofa": {
305
+ "distance": "5.5 meters",
306
  "closeness rank": 4
307
  },
308
  "door": {
 
316
  },
317
  "table": {
318
  "chair": {
319
+ "distance": "1.65 meters",
320
  "closeness rank": 1
321
  },
322
  "sofa": {
323
+ "distance": "3.8 meters",
324
  "closeness rank": 2
325
  },
326
  "cushion": {
327
+ "distance": "3.13 meters",
328
  "closeness rank": 3
329
  },
330
  "whiteboard": {
331
+ "distance": "3.48 meters",
332
  "closeness rank": 4
333
  },
334
  "clock": {
335
+ "distance": "4.49 meters",
336
  "closeness rank": 5
337
  },
338
  "door": {
339
+ "distance": "3.87 meters",
340
  "closeness rank": 6
341
  }
342
  },
343
  "sofa": {
344
  "cushion": {
345
+ "distance": "0.54 meters",
346
  "closeness rank": 1
347
  },
348
  "table": {
349
+ "distance": "3.8 meters",
350
  "closeness rank": 2
351
  },
352
  "door": {
353
+ "distance": "1.15 meters",
354
  "closeness rank": 3
355
  },
356
  "chair": {
357
+ "distance": "5.5 meters",
358
  "closeness rank": 4
359
  },
360
  "whiteboard": {
361
+ "distance": "7.66 meters",
362
  "closeness rank": 5
363
  },
364
  "clock": {
365
+ "distance": "8.52 meters",
366
  "closeness rank": 6
367
  }
368
  },
 
372
  "closeness rank": 1
373
  },
374
  "chair": {
375
+ "distance": "2.73 meters",
376
  "closeness rank": 2
377
  },
378
  "table": {
379
+ "distance": "4.49 meters",
380
  "closeness rank": 3
381
  },
382
  "sofa": {
383
+ "distance": "8.52 meters",
384
  "closeness rank": 4
385
  },
386
  "door": {
 
398
  "closeness rank": 1
399
  },
400
  "chair": {
401
+ "distance": "1.6 meters",
402
  "closeness rank": 2
403
  },
404
  "table": {
405
+ "distance": "3.48 meters",
406
  "closeness rank": 3
407
  },
408
  "sofa": {
409
+ "distance": "7.66 meters",
410
  "closeness rank": 4
411
  },
412
  "door": {
 
420
  },
421
  "door": {
422
  "sofa": {
423
+ "distance": "1.15 meters",
424
  "closeness rank": 1
425
  },
426
  "cushion": {
427
+ "distance": "2.48 meters",
428
  "closeness rank": 2
429
  },
430
  "table": {
431
+ "distance": "3.87 meters",
432
  "closeness rank": 3
433
  },
434
  "chair": {
 
446
  },
447
  "cushion": {
448
  "sofa": {
449
+ "distance": "0.54 meters",
450
  "closeness rank": 1
451
  },
452
  "table": {
453
+ "distance": "3.13 meters",
454
  "closeness rank": 2
455
  },
456
  "door": {
457
+ "distance": "2.48 meters",
458
  "closeness rank": 3
459
  },
460
  "chair": {
 
471
  }
472
  }
473
  },
474
+ "appearance order": ["chair", "table", "sofa", "clock", "whiteboard", "door", "cushion"]
 
 
 
 
 
 
 
 
475
  }
data/spatial codes/ground truth/explicit/99fa5c25e1.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -113,19 +113,16 @@
113
  "closest classes distance meters from": {
114
  "chair": {
115
  "bucket": {
116
- "distance": "2.27 meters",
117
  "closeness rank": 1
118
  }
119
  },
120
  "bucket": {
121
  "chair": {
122
- "distance": "2.27 meters",
123
  "closeness rank": 1
124
  }
125
  }
126
  },
127
- "appearance order": [
128
- "chair",
129
- "bucket"
130
- ]
131
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
113
  "closest classes distance meters from": {
114
  "chair": {
115
  "bucket": {
116
+ "distance": "2.77 meters",
117
  "closeness rank": 1
118
  }
119
  },
120
  "bucket": {
121
  "chair": {
122
+ "distance": "2.77 meters",
123
  "closeness rank": 1
124
  }
125
  }
126
  },
127
+ "appearance order": ["chair", "bucket"]
 
 
 
128
  }
data/spatial codes/ground truth/explicit/a24f64f7fb.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -282,7 +282,7 @@
282
  "closeness rank": 4
283
  },
284
  "computer mouse": {
285
- "distance": "1.69 meters",
286
  "closeness rank": 5
287
  },
288
  "keyboard": {
@@ -334,7 +334,7 @@
334
  "closeness rank": 4
335
  },
336
  "ceiling light": {
337
- "distance": "1.69 meters",
338
  "closeness rank": 5
339
  },
340
  "door": {
@@ -343,13 +343,5 @@
343
  }
344
  }
345
  },
346
- "appearance order": [
347
- "monitor",
348
- "chair",
349
- "door",
350
- "table",
351
- "ceiling light",
352
- "keyboard",
353
- "computer mouse"
354
- ]
355
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
282
  "closeness rank": 4
283
  },
284
  "computer mouse": {
285
+ "distance": "1.7 meters",
286
  "closeness rank": 5
287
  },
288
  "keyboard": {
 
334
  "closeness rank": 4
335
  },
336
  "ceiling light": {
337
+ "distance": "1.7 meters",
338
  "closeness rank": 5
339
  },
340
  "door": {
 
343
  }
344
  }
345
  },
346
+ "appearance order": ["monitor", "chair", "door", "table", "ceiling light", "keyboard", "computer mouse"]
 
 
 
 
 
 
 
 
347
  }
data/spatial codes/ground truth/explicit/a8bf42d646.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -176,15 +176,15 @@
176
  "closest classes distance meters from": {
177
  "trash can": {
178
  "door": {
179
- "distance": "0.1 meters",
180
  "closeness rank": 1
181
  },
182
  "table": {
183
- "distance": "0.81 meters",
184
  "closeness rank": 2
185
  },
186
  "heater": {
187
- "distance": "1.06 meters",
188
  "closeness rank": 3
189
  },
190
  "crate": {
@@ -194,15 +194,15 @@
194
  },
195
  "door": {
196
  "trash can": {
197
- "distance": "0.1 meters",
198
  "closeness rank": 1
199
  },
200
  "table": {
201
- "distance": "0.1 meters",
202
  "closeness rank": 2
203
  },
204
  "crate": {
205
- "distance": "0.94 meters",
206
  "closeness rank": 3
207
  },
208
  "heater": {
@@ -212,11 +212,11 @@
212
  },
213
  "heater": {
214
  "table": {
215
- "distance": "0.09 meters",
216
  "closeness rank": 1
217
  },
218
  "trash can": {
219
- "distance": "1.06 meters",
220
  "closeness rank": 2
221
  },
222
  "crate": {
@@ -230,29 +230,29 @@
230
  },
231
  "table": {
232
  "crate": {
233
- "distance": "0.0 meters",
234
  "closeness rank": 1
235
  },
236
  "heater": {
237
- "distance": "0.09 meters",
238
  "closeness rank": 2
239
  },
240
  "door": {
241
- "distance": "0.1 meters",
242
  "closeness rank": 3
243
  },
244
  "trash can": {
245
- "distance": "0.81 meters",
246
  "closeness rank": 4
247
  }
248
  },
249
  "crate": {
250
  "table": {
251
- "distance": "0.0 meters",
252
  "closeness rank": 1
253
  },
254
  "door": {
255
- "distance": "0.94 meters",
256
  "closeness rank": 2
257
  },
258
  "trash can": {
@@ -265,11 +265,5 @@
265
  }
266
  }
267
  },
268
- "appearance order": [
269
- "trash can",
270
- "door",
271
- "heater",
272
- "table",
273
- "crate"
274
- ]
275
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
176
  "closest classes distance meters from": {
177
  "trash can": {
178
  "door": {
179
+ "distance": "4.99 meters",
180
  "closeness rank": 1
181
  },
182
  "table": {
183
+ "distance": "1.62 meters",
184
  "closeness rank": 2
185
  },
186
  "heater": {
187
+ "distance": "2.82 meters",
188
  "closeness rank": 3
189
  },
190
  "crate": {
 
194
  },
195
  "door": {
196
  "trash can": {
197
+ "distance": "4.99 meters",
198
  "closeness rank": 1
199
  },
200
  "table": {
201
+ "distance": "2.54 meters",
202
  "closeness rank": 2
203
  },
204
  "crate": {
205
+ "distance": "3.68 meters",
206
  "closeness rank": 3
207
  },
208
  "heater": {
 
212
  },
213
  "heater": {
214
  "table": {
215
+ "distance": "2.26 meters",
216
  "closeness rank": 1
217
  },
218
  "trash can": {
219
+ "distance": "2.82 meters",
220
  "closeness rank": 2
221
  },
222
  "crate": {
 
230
  },
231
  "table": {
232
  "crate": {
233
+ "distance": "0.42 meters",
234
  "closeness rank": 1
235
  },
236
  "heater": {
237
+ "distance": "2.26 meters",
238
  "closeness rank": 2
239
  },
240
  "door": {
241
+ "distance": "2.54 meters",
242
  "closeness rank": 3
243
  },
244
  "trash can": {
245
+ "distance": "1.62 meters",
246
  "closeness rank": 4
247
  }
248
  },
249
  "crate": {
250
  "table": {
251
+ "distance": "0.42 meters",
252
  "closeness rank": 1
253
  },
254
  "door": {
255
+ "distance": "3.68 meters",
256
  "closeness rank": 2
257
  },
258
  "trash can": {
 
265
  }
266
  }
267
  },
268
+ "appearance order": ["trash can", "door", "heater", "table", "crate"]
 
 
 
 
 
 
269
  }
data/spatial codes/ground truth/explicit/a980334473.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -170,10 +170,5 @@
170
  }
171
  }
172
  },
173
- "appearance order": [
174
- "ceiling light",
175
- "chair",
176
- "table",
177
- "door"
178
- ]
179
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
170
  }
171
  }
172
  },
173
+ "appearance order": ["ceiling light", "chair", "table", "door"]
 
 
 
 
 
174
  }
data/spatial codes/ground truth/explicit/ac48a9b736.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -452,23 +452,23 @@
452
  "closest classes distance meters from": {
453
  "trash can": {
454
  "heater": {
455
- "distance": "0.05 meters",
456
  "closeness rank": 1
457
  },
458
  "door": {
459
- "distance": "0.32 meters",
460
  "closeness rank": 2
461
  },
462
  "table": {
463
- "distance": "1.91 meters",
464
  "closeness rank": 3
465
  },
466
  "keyboard": {
467
- "distance": "2.78 meters",
468
  "closeness rank": 4
469
  },
470
  "monitor": {
471
- "distance": "2.91 meters",
472
  "closeness rank": 5
473
  },
474
  "chair": {
@@ -486,31 +486,31 @@
486
  },
487
  "chair": {
488
  "computer mouse": {
489
- "distance": "0.0 meters",
490
  "closeness rank": 1
491
  },
492
  "keyboard": {
493
- "distance": "0.0 meters",
494
  "closeness rank": 2
495
  },
496
  "table": {
497
- "distance": "0.0 meters",
498
  "closeness rank": 3
499
  },
500
  "monitor": {
501
- "distance": "0.01 meters",
502
  "closeness rank": 4
503
  },
504
  "heater": {
505
- "distance": "0.58 meters",
506
  "closeness rank": 5
507
  },
508
  "whiteboard": {
509
- "distance": "0.59 meters",
510
  "closeness rank": 6
511
  },
512
  "door": {
513
- "distance": "0.91 meters",
514
  "closeness rank": 7
515
  },
516
  "trash can": {
@@ -520,91 +520,91 @@
520
  },
521
  "table": {
522
  "chair": {
523
- "distance": "0.0 meters",
524
  "closeness rank": 1
525
  },
526
  "computer mouse": {
527
- "distance": "0.0 meters",
528
  "closeness rank": 2
529
  },
530
  "keyboard": {
531
- "distance": "0.0 meters",
532
  "closeness rank": 3
533
  },
534
  "monitor": {
535
- "distance": "0.0 meters",
536
  "closeness rank": 4
537
  },
538
  "door": {
539
- "distance": "0.15 meters",
540
  "closeness rank": 5
541
  },
542
  "whiteboard": {
543
- "distance": "0.27 meters",
544
  "closeness rank": 6
545
  },
546
  "heater": {
547
- "distance": "0.5 meters",
548
  "closeness rank": 7
549
  },
550
  "trash can": {
551
- "distance": "1.91 meters",
552
  "closeness rank": 8
553
  }
554
  },
555
  "door": {
556
  "table": {
557
- "distance": "0.15 meters",
558
  "closeness rank": 1
559
  },
560
  "trash can": {
561
- "distance": "0.32 meters",
562
  "closeness rank": 2
563
  },
564
  "monitor": {
565
- "distance": "0.64 meters",
566
  "closeness rank": 3
567
  },
568
  "heater": {
569
- "distance": "0.73 meters",
570
  "closeness rank": 4
571
  },
572
  "keyboard": {
573
- "distance": "0.88 meters",
574
  "closeness rank": 5
575
  },
576
  "chair": {
577
- "distance": "0.91 meters",
578
  "closeness rank": 6
579
  },
580
  "computer mouse": {
581
- "distance": "0.92 meters",
582
  "closeness rank": 7
583
  },
584
  "whiteboard": {
585
- "distance": "6.11 meters",
586
  "closeness rank": 8
587
  }
588
  },
589
  "keyboard": {
590
  "chair": {
591
- "distance": "0.0 meters",
592
  "closeness rank": 1
593
  },
594
  "monitor": {
595
- "distance": "0.0 meters",
596
  "closeness rank": 2
597
  },
598
  "table": {
599
- "distance": "0.0 meters",
600
  "closeness rank": 3
601
  },
602
  "computer mouse": {
603
- "distance": "0.09 meters",
604
  "closeness rank": 4
605
  },
606
  "door": {
607
- "distance": "0.88 meters",
608
  "closeness rank": 5
609
  },
610
  "heater": {
@@ -612,75 +612,75 @@
612
  "closeness rank": 6
613
  },
614
  "whiteboard": {
615
- "distance": "1.4 meters",
616
  "closeness rank": 7
617
  },
618
  "trash can": {
619
- "distance": "2.78 meters",
620
  "closeness rank": 8
621
  }
622
  },
623
  "monitor": {
624
  "keyboard": {
625
- "distance": "0.0 meters",
626
  "closeness rank": 1
627
  },
628
  "table": {
629
- "distance": "0.0 meters",
630
  "closeness rank": 2
631
  },
632
  "chair": {
633
- "distance": "0.01 meters",
634
  "closeness rank": 3
635
  },
636
  "computer mouse": {
637
- "distance": "0.2 meters",
638
  "closeness rank": 4
639
  },
640
  "door": {
641
- "distance": "0.64 meters",
642
  "closeness rank": 5
643
  },
644
  "heater": {
645
- "distance": "1.25 meters",
646
  "closeness rank": 6
647
  },
648
  "whiteboard": {
649
- "distance": "1.7 meters",
650
  "closeness rank": 7
651
  },
652
  "trash can": {
653
- "distance": "2.91 meters",
654
  "closeness rank": 8
655
  }
656
  },
657
  "computer mouse": {
658
  "chair": {
659
- "distance": "0.0 meters",
660
  "closeness rank": 1
661
  },
662
  "table": {
663
- "distance": "0.0 meters",
664
  "closeness rank": 2
665
  },
666
  "keyboard": {
667
- "distance": "0.09 meters",
668
  "closeness rank": 3
669
  },
670
  "monitor": {
671
- "distance": "0.2 meters",
672
  "closeness rank": 4
673
  },
674
  "door": {
675
- "distance": "0.92 meters",
676
  "closeness rank": 5
677
  },
678
  "whiteboard": {
679
- "distance": "5.09 meters",
680
  "closeness rank": 6
681
  },
682
  "heater": {
683
- "distance": "7.73 meters",
684
  "closeness rank": 7
685
  },
686
  "trash can": {
@@ -690,19 +690,19 @@
690
  },
691
  "heater": {
692
  "trash can": {
693
- "distance": "0.05 meters",
694
  "closeness rank": 1
695
  },
696
  "table": {
697
- "distance": "0.5 meters",
698
  "closeness rank": 2
699
  },
700
  "chair": {
701
- "distance": "0.58 meters",
702
  "closeness rank": 3
703
  },
704
  "door": {
705
- "distance": "0.73 meters",
706
  "closeness rank": 4
707
  },
708
  "keyboard": {
@@ -710,45 +710,45 @@
710
  "closeness rank": 5
711
  },
712
  "monitor": {
713
- "distance": "1.25 meters",
714
  "closeness rank": 6
715
  },
716
  "whiteboard": {
717
- "distance": "1.33 meters",
718
  "closeness rank": 7
719
  },
720
  "computer mouse": {
721
- "distance": "7.73 meters",
722
  "closeness rank": 8
723
  }
724
  },
725
  "whiteboard": {
726
  "table": {
727
- "distance": "0.27 meters",
728
  "closeness rank": 1
729
  },
730
  "chair": {
731
- "distance": "0.59 meters",
732
  "closeness rank": 2
733
  },
734
  "heater": {
735
- "distance": "1.33 meters",
736
  "closeness rank": 3
737
  },
738
  "keyboard": {
739
- "distance": "1.4 meters",
740
  "closeness rank": 4
741
  },
742
  "monitor": {
743
- "distance": "1.7 meters",
744
  "closeness rank": 5
745
  },
746
  "computer mouse": {
747
- "distance": "5.09 meters",
748
  "closeness rank": 6
749
  },
750
  "door": {
751
- "distance": "6.11 meters",
752
  "closeness rank": 7
753
  },
754
  "trash can": {
@@ -757,15 +757,5 @@
757
  }
758
  }
759
  },
760
- "appearance order": [
761
- "trash can",
762
- "chair",
763
- "table",
764
- "door",
765
- "keyboard",
766
- "monitor",
767
- "computer mouse",
768
- "heater",
769
- "whiteboard"
770
- ]
771
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
452
  "closest classes distance meters from": {
453
  "trash can": {
454
  "heater": {
455
+ "distance": "10.97 meters",
456
  "closeness rank": 1
457
  },
458
  "door": {
459
+ "distance": "9.25 meters",
460
  "closeness rank": 2
461
  },
462
  "table": {
463
+ "distance": "13.69 meters",
464
  "closeness rank": 3
465
  },
466
  "keyboard": {
467
+ "distance": "10.43 meters",
468
  "closeness rank": 4
469
  },
470
  "monitor": {
471
+ "distance": "10.21 meters",
472
  "closeness rank": 5
473
  },
474
  "chair": {
 
486
  },
487
  "chair": {
488
  "computer mouse": {
489
+ "distance": "5.75 meters",
490
  "closeness rank": 1
491
  },
492
  "keyboard": {
493
+ "distance": "8.61 meters",
494
  "closeness rank": 2
495
  },
496
  "table": {
497
+ "distance": "10.12 meters",
498
  "closeness rank": 3
499
  },
500
  "monitor": {
501
+ "distance": "6.06 meters",
502
  "closeness rank": 4
503
  },
504
  "heater": {
505
+ "distance": "9.39 meters",
506
  "closeness rank": 5
507
  },
508
  "whiteboard": {
509
+ "distance": "9.38 meters",
510
  "closeness rank": 6
511
  },
512
  "door": {
513
+ "distance": "5.21 meters",
514
  "closeness rank": 7
515
  },
516
  "trash can": {
 
520
  },
521
  "table": {
522
  "chair": {
523
+ "distance": "10.12 meters",
524
  "closeness rank": 1
525
  },
526
  "computer mouse": {
527
+ "distance": "6.36 meters",
528
  "closeness rank": 2
529
  },
530
  "keyboard": {
531
+ "distance": "6.41 meters",
532
  "closeness rank": 3
533
  },
534
  "monitor": {
535
+ "distance": "5.67 meters",
536
  "closeness rank": 4
537
  },
538
  "door": {
539
+ "distance": "7.4 meters",
540
  "closeness rank": 5
541
  },
542
  "whiteboard": {
543
+ "distance": "3.49 meters",
544
  "closeness rank": 6
545
  },
546
  "heater": {
547
+ "distance": "6.47 meters",
548
  "closeness rank": 7
549
  },
550
  "trash can": {
551
+ "distance": "13.69 meters",
552
  "closeness rank": 8
553
  }
554
  },
555
  "door": {
556
  "table": {
557
+ "distance": "7.4 meters",
558
  "closeness rank": 1
559
  },
560
  "trash can": {
561
+ "distance": "9.25 meters",
562
  "closeness rank": 2
563
  },
564
  "monitor": {
565
+ "distance": "1.18 meters",
566
  "closeness rank": 3
567
  },
568
  "heater": {
569
+ "distance": "11.41 meters",
570
  "closeness rank": 4
571
  },
572
  "keyboard": {
573
+ "distance": "10.62 meters",
574
  "closeness rank": 5
575
  },
576
  "chair": {
577
+ "distance": "5.21 meters",
578
  "closeness rank": 6
579
  },
580
  "computer mouse": {
581
+ "distance": "1.11 meters",
582
  "closeness rank": 7
583
  },
584
  "whiteboard": {
585
+ "distance": "9.68 meters",
586
  "closeness rank": 8
587
  }
588
  },
589
  "keyboard": {
590
  "chair": {
591
+ "distance": "8.61 meters",
592
  "closeness rank": 1
593
  },
594
  "monitor": {
595
+ "distance": "9.27 meters",
596
  "closeness rank": 2
597
  },
598
  "table": {
599
+ "distance": "6.41 meters",
600
  "closeness rank": 3
601
  },
602
  "computer mouse": {
603
+ "distance": "9.53 meters",
604
  "closeness rank": 4
605
  },
606
  "door": {
607
+ "distance": "10.62 meters",
608
  "closeness rank": 5
609
  },
610
  "heater": {
 
612
  "closeness rank": 6
613
  },
614
  "whiteboard": {
615
+ "distance": "1.81 meters",
616
  "closeness rank": 7
617
  },
618
  "trash can": {
619
+ "distance": "10.43 meters",
620
  "closeness rank": 8
621
  }
622
  },
623
  "monitor": {
624
  "keyboard": {
625
+ "distance": "9.27 meters",
626
  "closeness rank": 1
627
  },
628
  "table": {
629
+ "distance": "5.67 meters",
630
  "closeness rank": 2
631
  },
632
  "chair": {
633
+ "distance": "6.06 meters",
634
  "closeness rank": 3
635
  },
636
  "computer mouse": {
637
+ "distance": "0.28 meters",
638
  "closeness rank": 4
639
  },
640
  "door": {
641
+ "distance": "1.18 meters",
642
  "closeness rank": 5
643
  },
644
  "heater": {
645
+ "distance": "10.01 meters",
646
  "closeness rank": 6
647
  },
648
  "whiteboard": {
649
+ "distance": "8.05 meters",
650
  "closeness rank": 7
651
  },
652
  "trash can": {
653
+ "distance": "10.21 meters",
654
  "closeness rank": 8
655
  }
656
  },
657
  "computer mouse": {
658
  "chair": {
659
+ "distance": "5.75 meters",
660
  "closeness rank": 1
661
  },
662
  "table": {
663
+ "distance": "6.36 meters",
664
  "closeness rank": 2
665
  },
666
  "keyboard": {
667
+ "distance": "9.53 meters",
668
  "closeness rank": 3
669
  },
670
  "monitor": {
671
+ "distance": "0.28 meters",
672
  "closeness rank": 4
673
  },
674
  "door": {
675
+ "distance": "1.11 meters",
676
  "closeness rank": 5
677
  },
678
  "whiteboard": {
679
+ "distance": "8.5 meters",
680
  "closeness rank": 6
681
  },
682
  "heater": {
683
+ "distance": "10.29 meters",
684
  "closeness rank": 7
685
  },
686
  "trash can": {
 
690
  },
691
  "heater": {
692
  "trash can": {
693
+ "distance": "10.97 meters",
694
  "closeness rank": 1
695
  },
696
  "table": {
697
+ "distance": "6.47 meters",
698
  "closeness rank": 2
699
  },
700
  "chair": {
701
+ "distance": "9.39 meters",
702
  "closeness rank": 3
703
  },
704
  "door": {
705
+ "distance": "11.41 meters",
706
  "closeness rank": 4
707
  },
708
  "keyboard": {
 
710
  "closeness rank": 5
711
  },
712
  "monitor": {
713
+ "distance": "10.01 meters",
714
  "closeness rank": 6
715
  },
716
  "whiteboard": {
717
+ "distance": "1.51 meters",
718
  "closeness rank": 7
719
  },
720
  "computer mouse": {
721
+ "distance": "10.29 meters",
722
  "closeness rank": 8
723
  }
724
  },
725
  "whiteboard": {
726
  "table": {
727
+ "distance": "3.49 meters",
728
  "closeness rank": 1
729
  },
730
  "chair": {
731
+ "distance": "9.38 meters",
732
  "closeness rank": 2
733
  },
734
  "heater": {
735
+ "distance": "1.51 meters",
736
  "closeness rank": 3
737
  },
738
  "keyboard": {
739
+ "distance": "1.81 meters",
740
  "closeness rank": 4
741
  },
742
  "monitor": {
743
+ "distance": "8.05 meters",
744
  "closeness rank": 5
745
  },
746
  "computer mouse": {
747
+ "distance": "8.5 meters",
748
  "closeness rank": 6
749
  },
750
  "door": {
751
+ "distance": "9.68 meters",
752
  "closeness rank": 7
753
  },
754
  "trash can": {
 
757
  }
758
  }
759
  },
760
+ "appearance order": ["trash can", "chair", "table", "door", "keyboard", "monitor", "computer mouse", "heater", "whiteboard"]
 
 
 
 
 
 
 
 
 
 
761
  }
data/spatial codes/ground truth/explicit/acd95847c5.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -394,35 +394,35 @@
394
  "closest classes distance meters from": {
395
  "computer tower": {
396
  "table": {
397
- "distance": "0.0 meters",
398
  "closeness rank": 1
399
  },
400
  "chair": {
401
- "distance": "0.15 meters",
402
  "closeness rank": 2
403
  },
404
  "telephone": {
405
- "distance": "0.28 meters",
406
  "closeness rank": 3
407
  },
408
  "computer mouse": {
409
- "distance": "0.29 meters",
410
  "closeness rank": 4
411
  },
412
  "monitor": {
413
- "distance": "0.29 meters",
414
  "closeness rank": 5
415
  },
416
  "keyboard": {
417
- "distance": "0.29 meters",
418
  "closeness rank": 6
419
  },
420
  "heater": {
421
- "distance": "0.3 meters",
422
  "closeness rank": 7
423
  },
424
  "laptop": {
425
- "distance": "0.61 meters",
426
  "closeness rank": 8
427
  },
428
  "whiteboard": {
@@ -430,11 +430,11 @@
430
  "closeness rank": 9
431
  },
432
  "ceiling light": {
433
- "distance": "2.25 meters",
434
  "closeness rank": 10
435
  },
436
  "trash can": {
437
- "distance": "2.79 meters",
438
  "closeness rank": 11
439
  },
440
  "bookshelf": {
@@ -442,17 +442,17 @@
442
  "closeness rank": 12
443
  },
444
  "door": {
445
- "distance": "2.93 meters",
446
  "closeness rank": 13
447
  },
448
  "power strip": {
449
- "distance": "3.03 meters",
450
  "closeness rank": 14
451
  }
452
  },
453
  "chair": {
454
  "laptop": {
455
- "distance": "0.0 meters",
456
  "closeness rank": 1
457
  },
458
  "table": {
@@ -460,27 +460,27 @@
460
  "closeness rank": 2
461
  },
462
  "keyboard": {
463
- "distance": "0.03 meters",
464
  "closeness rank": 3
465
  },
466
  "monitor": {
467
- "distance": "0.15 meters",
468
  "closeness rank": 4
469
  },
470
  "computer tower": {
471
- "distance": "0.15 meters",
472
  "closeness rank": 5
473
  },
474
  "computer mouse": {
475
- "distance": "0.21 meters",
476
  "closeness rank": 6
477
  },
478
  "telephone": {
479
- "distance": "0.36 meters",
480
  "closeness rank": 7
481
  },
482
  "heater": {
483
- "distance": "0.68 meters",
484
  "closeness rank": 8
485
  },
486
  "whiteboard": {
@@ -492,11 +492,11 @@
492
  "closeness rank": 10
493
  },
494
  "power strip": {
495
- "distance": "1.1 meters",
496
  "closeness rank": 11
497
  },
498
  "trash can": {
499
- "distance": "1.25 meters",
500
  "closeness rank": 12
501
  },
502
  "door": {
@@ -550,7 +550,7 @@
550
  "closeness rank": 10
551
  },
552
  "computer tower": {
553
- "distance": "2.93 meters",
554
  "closeness rank": 11
555
  },
556
  "laptop": {
@@ -588,7 +588,7 @@
588
  "closeness rank": 5
589
  },
590
  "telephone": {
591
- "distance": "1.75 meters",
592
  "closeness rank": 6
593
  },
594
  "table": {
@@ -600,7 +600,7 @@
600
  "closeness rank": 8
601
  },
602
  "laptop": {
603
- "distance": "1.92 meters",
604
  "closeness rank": 9
605
  },
606
  "computer mouse": {
@@ -608,11 +608,11 @@
608
  "closeness rank": 10
609
  },
610
  "computer tower": {
611
- "distance": "2.25 meters",
612
  "closeness rank": 11
613
  },
614
  "heater": {
615
- "distance": "2.34 meters",
616
  "closeness rank": 12
617
  },
618
  "power strip": {
@@ -626,7 +626,7 @@
626
  },
627
  "trash can": {
628
  "bookshelf": {
629
- "distance": "0.0 meters",
630
  "closeness rank": 1
631
  },
632
  "door": {
@@ -634,15 +634,15 @@
634
  "closeness rank": 2
635
  },
636
  "power strip": {
637
- "distance": "0.3 meters",
638
  "closeness rank": 3
639
  },
640
  "chair": {
641
- "distance": "1.25 meters",
642
  "closeness rank": 4
643
  },
644
  "whiteboard": {
645
- "distance": "1.43 meters",
646
  "closeness rank": 5
647
  },
648
  "table": {
@@ -650,11 +650,11 @@
650
  "closeness rank": 6
651
  },
652
  "monitor": {
653
- "distance": "2.16 meters",
654
  "closeness rank": 7
655
  },
656
  "computer mouse": {
657
- "distance": "2.34 meters",
658
  "closeness rank": 8
659
  },
660
  "keyboard": {
@@ -666,15 +666,15 @@
666
  "closeness rank": 10
667
  },
668
  "computer tower": {
669
- "distance": "2.79 meters",
670
  "closeness rank": 11
671
  },
672
  "laptop": {
673
- "distance": "3.46 meters",
674
  "closeness rank": 12
675
  },
676
  "telephone": {
677
- "distance": "3.77 meters",
678
  "closeness rank": 13
679
  },
680
  "heater": {
@@ -688,7 +688,7 @@
688
  "closeness rank": 1
689
  },
690
  "trash can": {
691
- "distance": "0.0 meters",
692
  "closeness rank": 2
693
  },
694
  "whiteboard": {
@@ -746,11 +746,11 @@
746
  "closeness rank": 1
747
  },
748
  "trash can": {
749
- "distance": "0.3 meters",
750
  "closeness rank": 2
751
  },
752
  "whiteboard": {
753
- "distance": "0.5 meters",
754
  "closeness rank": 3
755
  },
756
  "door": {
@@ -758,7 +758,7 @@
758
  "closeness rank": 4
759
  },
760
  "chair": {
761
- "distance": "1.1 meters",
762
  "closeness rank": 5
763
  },
764
  "table": {
@@ -770,7 +770,7 @@
770
  "closeness rank": 7
771
  },
772
  "computer mouse": {
773
- "distance": "2.35 meters",
774
  "closeness rank": 8
775
  },
776
  "ceiling light": {
@@ -782,19 +782,19 @@
782
  "closeness rank": 10
783
  },
784
  "computer tower": {
785
- "distance": "3.03 meters",
786
  "closeness rank": 11
787
  },
788
  "laptop": {
789
- "distance": "3.54 meters",
790
  "closeness rank": 12
791
  },
792
  "telephone": {
793
- "distance": "3.74 meters",
794
  "closeness rank": 13
795
  },
796
  "heater": {
797
- "distance": "4.26 meters",
798
  "closeness rank": 14
799
  }
800
  },
@@ -804,7 +804,7 @@
804
  "closeness rank": 1
805
  },
806
  "power strip": {
807
- "distance": "0.5 meters",
808
  "closeness rank": 2
809
  },
810
  "ceiling light": {
@@ -824,7 +824,7 @@
824
  "closeness rank": 6
825
  },
826
  "trash can": {
827
- "distance": "1.43 meters",
828
  "closeness rank": 7
829
  },
830
  "keyboard": {
@@ -848,7 +848,7 @@
848
  "closeness rank": 12
849
  },
850
  "heater": {
851
- "distance": "2.05 meters",
852
  "closeness rank": 13
853
  },
854
  "laptop": {
@@ -866,7 +866,7 @@
866
  "closeness rank": 2
867
  },
868
  "computer tower": {
869
- "distance": "0.0 meters",
870
  "closeness rank": 3
871
  },
872
  "keyboard": {
@@ -874,7 +874,7 @@
874
  "closeness rank": 4
875
  },
876
  "laptop": {
877
- "distance": "0.0 meters",
878
  "closeness rank": 5
879
  },
880
  "monitor": {
@@ -882,11 +882,11 @@
882
  "closeness rank": 6
883
  },
884
  "telephone": {
885
- "distance": "0.0 meters",
886
  "closeness rank": 7
887
  },
888
  "heater": {
889
- "distance": "0.15 meters",
890
  "closeness rank": 8
891
  },
892
  "whiteboard": {
@@ -916,11 +916,11 @@
916
  },
917
  "keyboard": {
918
  "computer mouse": {
919
- "distance": "0.0 meters",
920
  "closeness rank": 1
921
  },
922
  "monitor": {
923
- "distance": "0.0 meters",
924
  "closeness rank": 2
925
  },
926
  "table": {
@@ -928,19 +928,19 @@
928
  "closeness rank": 3
929
  },
930
  "chair": {
931
- "distance": "0.03 meters",
932
  "closeness rank": 4
933
  },
934
  "telephone": {
935
- "distance": "0.12 meters",
936
  "closeness rank": 5
937
  },
938
  "computer tower": {
939
- "distance": "0.29 meters",
940
  "closeness rank": 6
941
  },
942
  "heater": {
943
- "distance": "0.63 meters",
944
  "closeness rank": 7
945
  },
946
  "laptop": {
@@ -974,7 +974,7 @@
974
  },
975
  "computer mouse": {
976
  "keyboard": {
977
- "distance": "0.0 meters",
978
  "closeness rank": 1
979
  },
980
  "table": {
@@ -982,27 +982,27 @@
982
  "closeness rank": 2
983
  },
984
  "monitor": {
985
- "distance": "0.01 meters",
986
  "closeness rank": 3
987
  },
988
  "telephone": {
989
- "distance": "0.14 meters",
990
  "closeness rank": 4
991
  },
992
  "chair": {
993
- "distance": "0.21 meters",
994
  "closeness rank": 5
995
  },
996
  "computer tower": {
997
- "distance": "0.29 meters",
998
  "closeness rank": 6
999
  },
1000
  "heater": {
1001
- "distance": "0.57 meters",
1002
  "closeness rank": 7
1003
  },
1004
  "laptop": {
1005
- "distance": "0.93 meters",
1006
  "closeness rank": 8
1007
  },
1008
  "whiteboard": {
@@ -1018,11 +1018,11 @@
1018
  "closeness rank": 11
1019
  },
1020
  "trash can": {
1021
- "distance": "2.34 meters",
1022
  "closeness rank": 12
1023
  },
1024
  "power strip": {
1025
- "distance": "2.35 meters",
1026
  "closeness rank": 13
1027
  },
1028
  "door": {
@@ -1032,7 +1032,7 @@
1032
  },
1033
  "monitor": {
1034
  "keyboard": {
1035
- "distance": "0.0 meters",
1036
  "closeness rank": 1
1037
  },
1038
  "table": {
@@ -1040,27 +1040,27 @@
1040
  "closeness rank": 2
1041
  },
1042
  "telephone": {
1043
- "distance": "0.0 meters",
1044
  "closeness rank": 3
1045
  },
1046
  "computer mouse": {
1047
- "distance": "0.01 meters",
1048
  "closeness rank": 4
1049
  },
1050
  "chair": {
1051
- "distance": "0.15 meters",
1052
  "closeness rank": 5
1053
  },
1054
  "laptop": {
1055
- "distance": "0.15 meters",
1056
  "closeness rank": 6
1057
  },
1058
  "computer tower": {
1059
- "distance": "0.29 meters",
1060
  "closeness rank": 7
1061
  },
1062
  "heater": {
1063
- "distance": "0.69 meters",
1064
  "closeness rank": 8
1065
  },
1066
  "whiteboard": {
@@ -1080,7 +1080,7 @@
1080
  "closeness rank": 12
1081
  },
1082
  "trash can": {
1083
- "distance": "2.16 meters",
1084
  "closeness rank": 13
1085
  },
1086
  "door": {
@@ -1090,39 +1090,39 @@
1090
  },
1091
  "telephone": {
1092
  "monitor": {
1093
- "distance": "0.0 meters",
1094
  "closeness rank": 1
1095
  },
1096
  "table": {
1097
- "distance": "0.0 meters",
1098
  "closeness rank": 2
1099
  },
1100
  "keyboard": {
1101
- "distance": "0.12 meters",
1102
  "closeness rank": 3
1103
  },
1104
  "computer mouse": {
1105
- "distance": "0.14 meters",
1106
  "closeness rank": 4
1107
  },
1108
  "laptop": {
1109
- "distance": "0.22 meters",
1110
  "closeness rank": 5
1111
  },
1112
  "computer tower": {
1113
- "distance": "0.28 meters",
1114
  "closeness rank": 6
1115
  },
1116
  "chair": {
1117
- "distance": "0.36 meters",
1118
  "closeness rank": 7
1119
  },
1120
  "heater": {
1121
- "distance": "0.62 meters",
1122
  "closeness rank": 8
1123
  },
1124
  "ceiling light": {
1125
- "distance": "1.75 meters",
1126
  "closeness rank": 9
1127
  },
1128
  "whiteboard": {
@@ -1134,11 +1134,11 @@
1134
  "closeness rank": 11
1135
  },
1136
  "power strip": {
1137
- "distance": "3.74 meters",
1138
  "closeness rank": 12
1139
  },
1140
  "trash can": {
1141
- "distance": "3.77 meters",
1142
  "closeness rank": 13
1143
  },
1144
  "door": {
@@ -1148,23 +1148,23 @@
1148
  },
1149
  "laptop": {
1150
  "chair": {
1151
- "distance": "0.0 meters",
1152
  "closeness rank": 1
1153
  },
1154
  "table": {
1155
- "distance": "0.0 meters",
1156
  "closeness rank": 2
1157
  },
1158
  "monitor": {
1159
- "distance": "0.15 meters",
1160
  "closeness rank": 3
1161
  },
1162
  "telephone": {
1163
- "distance": "0.22 meters",
1164
  "closeness rank": 4
1165
  },
1166
  "computer tower": {
1167
- "distance": "0.61 meters",
1168
  "closeness rank": 5
1169
  },
1170
  "heater": {
@@ -1176,11 +1176,11 @@
1176
  "closeness rank": 7
1177
  },
1178
  "computer mouse": {
1179
- "distance": "0.93 meters",
1180
  "closeness rank": 8
1181
  },
1182
  "ceiling light": {
1183
- "distance": "1.92 meters",
1184
  "closeness rank": 9
1185
  },
1186
  "whiteboard": {
@@ -1192,11 +1192,11 @@
1192
  "closeness rank": 11
1193
  },
1194
  "trash can": {
1195
- "distance": "3.46 meters",
1196
  "closeness rank": 12
1197
  },
1198
  "power strip": {
1199
- "distance": "3.54 meters",
1200
  "closeness rank": 13
1201
  },
1202
  "door": {
@@ -1206,31 +1206,31 @@
1206
  },
1207
  "heater": {
1208
  "table": {
1209
- "distance": "0.15 meters",
1210
  "closeness rank": 1
1211
  },
1212
  "computer tower": {
1213
- "distance": "0.3 meters",
1214
  "closeness rank": 2
1215
  },
1216
  "computer mouse": {
1217
- "distance": "0.57 meters",
1218
  "closeness rank": 3
1219
  },
1220
  "telephone": {
1221
- "distance": "0.62 meters",
1222
  "closeness rank": 4
1223
  },
1224
  "keyboard": {
1225
- "distance": "0.63 meters",
1226
  "closeness rank": 5
1227
  },
1228
  "chair": {
1229
- "distance": "0.68 meters",
1230
  "closeness rank": 6
1231
  },
1232
  "monitor": {
1233
- "distance": "0.69 meters",
1234
  "closeness rank": 7
1235
  },
1236
  "laptop": {
@@ -1238,11 +1238,11 @@
1238
  "closeness rank": 8
1239
  },
1240
  "whiteboard": {
1241
- "distance": "2.05 meters",
1242
  "closeness rank": 9
1243
  },
1244
  "ceiling light": {
1245
- "distance": "2.34 meters",
1246
  "closeness rank": 10
1247
  },
1248
  "bookshelf": {
@@ -1250,7 +1250,7 @@
1250
  "closeness rank": 11
1251
  },
1252
  "power strip": {
1253
- "distance": "4.26 meters",
1254
  "closeness rank": 12
1255
  },
1256
  "trash can": {
@@ -1263,21 +1263,5 @@
1263
  }
1264
  }
1265
  },
1266
- "appearance order": [
1267
- "computer tower",
1268
- "chair",
1269
- "door",
1270
- "ceiling light",
1271
- "trash can",
1272
- "bookshelf",
1273
- "power strip",
1274
- "whiteboard",
1275
- "table",
1276
- "keyboard",
1277
- "computer mouse",
1278
- "monitor",
1279
- "telephone",
1280
- "laptop",
1281
- "heater"
1282
- ]
1283
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
394
  "closest classes distance meters from": {
395
  "computer tower": {
396
  "table": {
397
+ "distance": "0.83 meters",
398
  "closeness rank": 1
399
  },
400
  "chair": {
401
+ "distance": "1.75 meters",
402
  "closeness rank": 2
403
  },
404
  "telephone": {
405
+ "distance": "0.29 meters",
406
  "closeness rank": 3
407
  },
408
  "computer mouse": {
409
+ "distance": "1.48 meters",
410
  "closeness rank": 4
411
  },
412
  "monitor": {
413
+ "distance": "1.42 meters",
414
  "closeness rank": 5
415
  },
416
  "keyboard": {
417
+ "distance": "1.48 meters",
418
  "closeness rank": 6
419
  },
420
  "heater": {
421
+ "distance": "1.23 meters",
422
  "closeness rank": 7
423
  },
424
  "laptop": {
425
+ "distance": "0.91 meters",
426
  "closeness rank": 8
427
  },
428
  "whiteboard": {
 
430
  "closeness rank": 9
431
  },
432
  "ceiling light": {
433
+ "distance": "2.73 meters",
434
  "closeness rank": 10
435
  },
436
  "trash can": {
437
+ "distance": "3.79 meters",
438
  "closeness rank": 11
439
  },
440
  "bookshelf": {
 
442
  "closeness rank": 12
443
  },
444
  "door": {
445
+ "distance": "3.25 meters",
446
  "closeness rank": 13
447
  },
448
  "power strip": {
449
+ "distance": "3.7 meters",
450
  "closeness rank": 14
451
  }
452
  },
453
  "chair": {
454
  "laptop": {
455
+ "distance": "1.75 meters",
456
  "closeness rank": 1
457
  },
458
  "table": {
 
460
  "closeness rank": 2
461
  },
462
  "keyboard": {
463
+ "distance": "0.75 meters",
464
  "closeness rank": 3
465
  },
466
  "monitor": {
467
+ "distance": "0.2 meters",
468
  "closeness rank": 4
469
  },
470
  "computer tower": {
471
+ "distance": "1.75 meters",
472
  "closeness rank": 5
473
  },
474
  "computer mouse": {
475
+ "distance": "0.55 meters",
476
  "closeness rank": 6
477
  },
478
  "telephone": {
479
+ "distance": "1.83 meters",
480
  "closeness rank": 7
481
  },
482
  "heater": {
483
+ "distance": "2.64 meters",
484
  "closeness rank": 8
485
  },
486
  "whiteboard": {
 
492
  "closeness rank": 10
493
  },
494
  "power strip": {
495
+ "distance": "1.11 meters",
496
  "closeness rank": 11
497
  },
498
  "trash can": {
499
+ "distance": "1.29 meters",
500
  "closeness rank": 12
501
  },
502
  "door": {
 
550
  "closeness rank": 10
551
  },
552
  "computer tower": {
553
+ "distance": "3.25 meters",
554
  "closeness rank": 11
555
  },
556
  "laptop": {
 
588
  "closeness rank": 5
589
  },
590
  "telephone": {
591
+ "distance": "2.42 meters",
592
  "closeness rank": 6
593
  },
594
  "table": {
 
600
  "closeness rank": 8
601
  },
602
  "laptop": {
603
+ "distance": "2.43 meters",
604
  "closeness rank": 9
605
  },
606
  "computer mouse": {
 
608
  "closeness rank": 10
609
  },
610
  "computer tower": {
611
+ "distance": "2.73 meters",
612
  "closeness rank": 11
613
  },
614
  "heater": {
615
+ "distance": "3.39 meters",
616
  "closeness rank": 12
617
  },
618
  "power strip": {
 
626
  },
627
  "trash can": {
628
  "bookshelf": {
629
+ "distance": "0.11 meters",
630
  "closeness rank": 1
631
  },
632
  "door": {
 
634
  "closeness rank": 2
635
  },
636
  "power strip": {
637
+ "distance": "0.62 meters",
638
  "closeness rank": 3
639
  },
640
  "chair": {
641
+ "distance": "1.29 meters",
642
  "closeness rank": 4
643
  },
644
  "whiteboard": {
645
+ "distance": "1.48 meters",
646
  "closeness rank": 5
647
  },
648
  "table": {
 
650
  "closeness rank": 6
651
  },
652
  "monitor": {
653
+ "distance": "2.18 meters",
654
  "closeness rank": 7
655
  },
656
  "computer mouse": {
657
+ "distance": "2.4 meters",
658
  "closeness rank": 8
659
  },
660
  "keyboard": {
 
666
  "closeness rank": 10
667
  },
668
  "computer tower": {
669
+ "distance": "3.79 meters",
670
  "closeness rank": 11
671
  },
672
  "laptop": {
673
+ "distance": "3.5 meters",
674
  "closeness rank": 12
675
  },
676
  "telephone": {
677
+ "distance": "3.83 meters",
678
  "closeness rank": 13
679
  },
680
  "heater": {
 
688
  "closeness rank": 1
689
  },
690
  "trash can": {
691
+ "distance": "0.11 meters",
692
  "closeness rank": 2
693
  },
694
  "whiteboard": {
 
746
  "closeness rank": 1
747
  },
748
  "trash can": {
749
+ "distance": "0.62 meters",
750
  "closeness rank": 2
751
  },
752
  "whiteboard": {
753
+ "distance": "0.75 meters",
754
  "closeness rank": 3
755
  },
756
  "door": {
 
758
  "closeness rank": 4
759
  },
760
  "chair": {
761
+ "distance": "1.11 meters",
762
  "closeness rank": 5
763
  },
764
  "table": {
 
770
  "closeness rank": 7
771
  },
772
  "computer mouse": {
773
+ "distance": "2.38 meters",
774
  "closeness rank": 8
775
  },
776
  "ceiling light": {
 
782
  "closeness rank": 10
783
  },
784
  "computer tower": {
785
+ "distance": "3.7 meters",
786
  "closeness rank": 11
787
  },
788
  "laptop": {
789
+ "distance": "3.6 meters",
790
  "closeness rank": 12
791
  },
792
  "telephone": {
793
+ "distance": "3.76 meters",
794
  "closeness rank": 13
795
  },
796
  "heater": {
797
+ "distance": "4.5 meters",
798
  "closeness rank": 14
799
  }
800
  },
 
804
  "closeness rank": 1
805
  },
806
  "power strip": {
807
+ "distance": "0.75 meters",
808
  "closeness rank": 2
809
  },
810
  "ceiling light": {
 
824
  "closeness rank": 6
825
  },
826
  "trash can": {
827
+ "distance": "1.48 meters",
828
  "closeness rank": 7
829
  },
830
  "keyboard": {
 
848
  "closeness rank": 12
849
  },
850
  "heater": {
851
+ "distance": "3.11 meters",
852
  "closeness rank": 13
853
  },
854
  "laptop": {
 
866
  "closeness rank": 2
867
  },
868
  "computer tower": {
869
+ "distance": "0.83 meters",
870
  "closeness rank": 3
871
  },
872
  "keyboard": {
 
874
  "closeness rank": 4
875
  },
876
  "laptop": {
877
+ "distance": "0.56 meters",
878
  "closeness rank": 5
879
  },
880
  "monitor": {
 
882
  "closeness rank": 6
883
  },
884
  "telephone": {
885
+ "distance": "0.83 meters",
886
  "closeness rank": 7
887
  },
888
  "heater": {
889
+ "distance": "1.41 meters",
890
  "closeness rank": 8
891
  },
892
  "whiteboard": {
 
916
  },
917
  "keyboard": {
918
  "computer mouse": {
919
+ "distance": "0.23 meters",
920
  "closeness rank": 1
921
  },
922
  "monitor": {
923
+ "distance": "0.51 meters",
924
  "closeness rank": 2
925
  },
926
  "table": {
 
928
  "closeness rank": 3
929
  },
930
  "chair": {
931
+ "distance": "0.75 meters",
932
  "closeness rank": 4
933
  },
934
  "telephone": {
935
+ "distance": "1.27 meters",
936
  "closeness rank": 5
937
  },
938
  "computer tower": {
939
+ "distance": "1.48 meters",
940
  "closeness rank": 6
941
  },
942
  "heater": {
943
+ "distance": "1.65 meters",
944
  "closeness rank": 7
945
  },
946
  "laptop": {
 
974
  },
975
  "computer mouse": {
976
  "keyboard": {
977
+ "distance": "0.23 meters",
978
  "closeness rank": 1
979
  },
980
  "table": {
 
982
  "closeness rank": 2
983
  },
984
  "monitor": {
985
+ "distance": "0.2 meters",
986
  "closeness rank": 3
987
  },
988
  "telephone": {
989
+ "distance": "1.35 meters",
990
  "closeness rank": 4
991
  },
992
  "chair": {
993
+ "distance": "0.55 meters",
994
  "closeness rank": 5
995
  },
996
  "computer tower": {
997
+ "distance": "1.48 meters",
998
  "closeness rank": 6
999
  },
1000
  "heater": {
1001
+ "distance": "2.07 meters",
1002
  "closeness rank": 7
1003
  },
1004
  "laptop": {
1005
+ "distance": "1.12 meters",
1006
  "closeness rank": 8
1007
  },
1008
  "whiteboard": {
 
1018
  "closeness rank": 11
1019
  },
1020
  "trash can": {
1021
+ "distance": "2.4 meters",
1022
  "closeness rank": 12
1023
  },
1024
  "power strip": {
1025
+ "distance": "2.38 meters",
1026
  "closeness rank": 13
1027
  },
1028
  "door": {
 
1032
  },
1033
  "monitor": {
1034
  "keyboard": {
1035
+ "distance": "0.51 meters",
1036
  "closeness rank": 1
1037
  },
1038
  "table": {
 
1040
  "closeness rank": 2
1041
  },
1042
  "telephone": {
1043
+ "distance": "1.32 meters",
1044
  "closeness rank": 3
1045
  },
1046
  "computer mouse": {
1047
+ "distance": "0.2 meters",
1048
  "closeness rank": 4
1049
  },
1050
  "chair": {
1051
+ "distance": "0.2 meters",
1052
  "closeness rank": 5
1053
  },
1054
  "laptop": {
1055
+ "distance": "1.3 meters",
1056
  "closeness rank": 6
1057
  },
1058
  "computer tower": {
1059
+ "distance": "1.42 meters",
1060
  "closeness rank": 7
1061
  },
1062
  "heater": {
1063
+ "distance": "2.28 meters",
1064
  "closeness rank": 8
1065
  },
1066
  "whiteboard": {
 
1080
  "closeness rank": 12
1081
  },
1082
  "trash can": {
1083
+ "distance": "2.18 meters",
1084
  "closeness rank": 13
1085
  },
1086
  "door": {
 
1090
  },
1091
  "telephone": {
1092
  "monitor": {
1093
+ "distance": "1.32 meters",
1094
  "closeness rank": 1
1095
  },
1096
  "table": {
1097
+ "distance": "0.83 meters",
1098
  "closeness rank": 2
1099
  },
1100
  "keyboard": {
1101
+ "distance": "1.27 meters",
1102
  "closeness rank": 3
1103
  },
1104
  "computer mouse": {
1105
+ "distance": "1.35 meters",
1106
  "closeness rank": 4
1107
  },
1108
  "laptop": {
1109
+ "distance": "0.53 meters",
1110
  "closeness rank": 5
1111
  },
1112
  "computer tower": {
1113
+ "distance": "0.29 meters",
1114
  "closeness rank": 6
1115
  },
1116
  "chair": {
1117
+ "distance": "1.83 meters",
1118
  "closeness rank": 7
1119
  },
1120
  "heater": {
1121
+ "distance": "1.07 meters",
1122
  "closeness rank": 8
1123
  },
1124
  "ceiling light": {
1125
+ "distance": "2.42 meters",
1126
  "closeness rank": 9
1127
  },
1128
  "whiteboard": {
 
1134
  "closeness rank": 11
1135
  },
1136
  "power strip": {
1137
+ "distance": "3.76 meters",
1138
  "closeness rank": 12
1139
  },
1140
  "trash can": {
1141
+ "distance": "3.83 meters",
1142
  "closeness rank": 13
1143
  },
1144
  "door": {
 
1148
  },
1149
  "laptop": {
1150
  "chair": {
1151
+ "distance": "1.75 meters",
1152
  "closeness rank": 1
1153
  },
1154
  "table": {
1155
+ "distance": "0.56 meters",
1156
  "closeness rank": 2
1157
  },
1158
  "monitor": {
1159
+ "distance": "1.3 meters",
1160
  "closeness rank": 3
1161
  },
1162
  "telephone": {
1163
+ "distance": "0.53 meters",
1164
  "closeness rank": 4
1165
  },
1166
  "computer tower": {
1167
+ "distance": "0.91 meters",
1168
  "closeness rank": 5
1169
  },
1170
  "heater": {
 
1176
  "closeness rank": 7
1177
  },
1178
  "computer mouse": {
1179
+ "distance": "1.12 meters",
1180
  "closeness rank": 8
1181
  },
1182
  "ceiling light": {
1183
+ "distance": "2.43 meters",
1184
  "closeness rank": 9
1185
  },
1186
  "whiteboard": {
 
1192
  "closeness rank": 11
1193
  },
1194
  "trash can": {
1195
+ "distance": "3.5 meters",
1196
  "closeness rank": 12
1197
  },
1198
  "power strip": {
1199
+ "distance": "3.6 meters",
1200
  "closeness rank": 13
1201
  },
1202
  "door": {
 
1206
  },
1207
  "heater": {
1208
  "table": {
1209
+ "distance": "1.41 meters",
1210
  "closeness rank": 1
1211
  },
1212
  "computer tower": {
1213
+ "distance": "1.23 meters",
1214
  "closeness rank": 2
1215
  },
1216
  "computer mouse": {
1217
+ "distance": "2.07 meters",
1218
  "closeness rank": 3
1219
  },
1220
  "telephone": {
1221
+ "distance": "1.07 meters",
1222
  "closeness rank": 4
1223
  },
1224
  "keyboard": {
1225
+ "distance": "1.65 meters",
1226
  "closeness rank": 5
1227
  },
1228
  "chair": {
1229
+ "distance": "2.64 meters",
1230
  "closeness rank": 6
1231
  },
1232
  "monitor": {
1233
+ "distance": "2.28 meters",
1234
  "closeness rank": 7
1235
  },
1236
  "laptop": {
 
1238
  "closeness rank": 8
1239
  },
1240
  "whiteboard": {
1241
+ "distance": "3.11 meters",
1242
  "closeness rank": 9
1243
  },
1244
  "ceiling light": {
1245
+ "distance": "3.39 meters",
1246
  "closeness rank": 10
1247
  },
1248
  "bookshelf": {
 
1250
  "closeness rank": 11
1251
  },
1252
  "power strip": {
1253
+ "distance": "4.5 meters",
1254
  "closeness rank": 12
1255
  },
1256
  "trash can": {
 
1263
  }
1264
  }
1265
  },
1266
+ "appearance order": ["computer tower", "chair", "door", "ceiling light", "trash can", "bookshelf", "power strip", "whiteboard", "table", "keyboard", "computer mouse", "monitor", "telephone", "laptop", "heater"]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1267
  }
data/spatial codes/ground truth/explicit/bde1e479ad.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -703,7 +703,7 @@
703
  "closest classes distance meters from": {
704
  "ceiling light": {
705
  "whiteboard": {
706
- "distance": "0.7 meters",
707
  "closeness rank": 1
708
  },
709
  "clock": {
@@ -711,15 +711,15 @@
711
  "closeness rank": 2
712
  },
713
  "door": {
714
- "distance": "1.06 meters",
715
  "closeness rank": 3
716
  },
717
  "chair": {
718
- "distance": "1.88 meters",
719
  "closeness rank": 4
720
  },
721
  "power strip": {
722
- "distance": "2.06 meters",
723
  "closeness rank": 5
724
  },
725
  "table": {
@@ -727,17 +727,17 @@
727
  "closeness rank": 6
728
  },
729
  "heater": {
730
- "distance": "2.4 meters",
731
  "closeness rank": 7
732
  }
733
  },
734
  "heater": {
735
  "chair": {
736
- "distance": "0.04 meters",
737
  "closeness rank": 1
738
  },
739
  "table": {
740
- "distance": "0.06 meters",
741
  "closeness rank": 2
742
  },
743
  "door": {
@@ -745,11 +745,11 @@
745
  "closeness rank": 3
746
  },
747
  "power strip": {
748
- "distance": "0.75 meters",
749
  "closeness rank": 4
750
  },
751
  "ceiling light": {
752
- "distance": "2.4 meters",
753
  "closeness rank": 5
754
  },
755
  "whiteboard": {
@@ -757,59 +757,59 @@
757
  "closeness rank": 6
758
  },
759
  "clock": {
760
- "distance": "7.37 meters",
761
  "closeness rank": 7
762
  }
763
  },
764
  "chair": {
765
  "table": {
766
- "distance": "0.0 meters",
767
  "closeness rank": 1
768
  },
769
  "whiteboard": {
770
- "distance": "0.02 meters",
771
  "closeness rank": 2
772
  },
773
  "heater": {
774
- "distance": "0.04 meters",
775
  "closeness rank": 3
776
  },
777
  "power strip": {
778
- "distance": "0.33 meters",
779
  "closeness rank": 4
780
  },
781
  "door": {
782
- "distance": "0.38 meters",
783
  "closeness rank": 5
784
  },
785
  "clock": {
786
- "distance": "1.43 meters",
787
  "closeness rank": 6
788
  },
789
  "ceiling light": {
790
- "distance": "1.88 meters",
791
  "closeness rank": 7
792
  }
793
  },
794
  "table": {
795
  "chair": {
796
- "distance": "0.0 meters",
797
  "closeness rank": 1
798
  },
799
  "heater": {
800
- "distance": "0.06 meters",
801
  "closeness rank": 2
802
  },
803
  "whiteboard": {
804
- "distance": "0.34 meters",
805
  "closeness rank": 3
806
  },
807
  "power strip": {
808
- "distance": "0.35 meters",
809
  "closeness rank": 4
810
  },
811
  "door": {
812
- "distance": "1.04 meters",
813
  "closeness rank": 5
814
  },
815
  "clock": {
@@ -823,7 +823,7 @@
823
  },
824
  "clock": {
825
  "whiteboard": {
826
- "distance": "0.33 meters",
827
  "closeness rank": 1
828
  },
829
  "ceiling light": {
@@ -831,11 +831,11 @@
831
  "closeness rank": 2
832
  },
833
  "chair": {
834
- "distance": "1.43 meters",
835
  "closeness rank": 3
836
  },
837
  "door": {
838
- "distance": "1.58 meters",
839
  "closeness rank": 4
840
  },
841
  "table": {
@@ -847,33 +847,33 @@
847
  "closeness rank": 6
848
  },
849
  "heater": {
850
- "distance": "7.37 meters",
851
  "closeness rank": 7
852
  }
853
  },
854
  "whiteboard": {
855
  "chair": {
856
- "distance": "0.02 meters",
857
  "closeness rank": 1
858
  },
859
  "clock": {
860
- "distance": "0.33 meters",
861
  "closeness rank": 2
862
  },
863
  "door": {
864
- "distance": "0.34 meters",
865
  "closeness rank": 3
866
  },
867
  "table": {
868
- "distance": "0.34 meters",
869
  "closeness rank": 4
870
  },
871
  "ceiling light": {
872
- "distance": "0.7 meters",
873
  "closeness rank": 5
874
  },
875
  "power strip": {
876
- "distance": "2.15 meters",
877
  "closeness rank": 6
878
  },
879
  "heater": {
@@ -887,53 +887,53 @@
887
  "closeness rank": 1
888
  },
889
  "whiteboard": {
890
- "distance": "0.34 meters",
891
  "closeness rank": 2
892
  },
893
  "chair": {
894
- "distance": "0.38 meters",
895
  "closeness rank": 3
896
  },
897
  "power strip": {
898
- "distance": "0.99 meters",
899
  "closeness rank": 4
900
  },
901
  "table": {
902
- "distance": "1.04 meters",
903
  "closeness rank": 5
904
  },
905
  "ceiling light": {
906
- "distance": "1.06 meters",
907
  "closeness rank": 6
908
  },
909
  "clock": {
910
- "distance": "1.58 meters",
911
  "closeness rank": 7
912
  }
913
  },
914
  "power strip": {
915
  "chair": {
916
- "distance": "0.33 meters",
917
  "closeness rank": 1
918
  },
919
  "table": {
920
- "distance": "0.35 meters",
921
  "closeness rank": 2
922
  },
923
  "heater": {
924
- "distance": "0.75 meters",
925
  "closeness rank": 3
926
  },
927
  "door": {
928
- "distance": "0.99 meters",
929
  "closeness rank": 4
930
  },
931
  "ceiling light": {
932
- "distance": "2.06 meters",
933
  "closeness rank": 5
934
  },
935
  "whiteboard": {
936
- "distance": "2.15 meters",
937
  "closeness rank": 6
938
  },
939
  "clock": {
@@ -942,14 +942,5 @@
942
  }
943
  }
944
  },
945
- "appearance order": [
946
- "ceiling light",
947
- "heater",
948
- "chair",
949
- "table",
950
- "clock",
951
- "whiteboard",
952
- "door",
953
- "power strip"
954
- ]
955
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
703
  "closest classes distance meters from": {
704
  "ceiling light": {
705
  "whiteboard": {
706
+ "distance": "3.18 meters",
707
  "closeness rank": 1
708
  },
709
  "clock": {
 
711
  "closeness rank": 2
712
  },
713
  "door": {
714
+ "distance": "5.27 meters",
715
  "closeness rank": 3
716
  },
717
  "chair": {
718
+ "distance": "4.53 meters",
719
  "closeness rank": 4
720
  },
721
  "power strip": {
722
+ "distance": "3.19 meters",
723
  "closeness rank": 5
724
  },
725
  "table": {
 
727
  "closeness rank": 6
728
  },
729
  "heater": {
730
+ "distance": "6.49 meters",
731
  "closeness rank": 7
732
  }
733
  },
734
  "heater": {
735
  "chair": {
736
+ "distance": "1.53 meters",
737
  "closeness rank": 1
738
  },
739
  "table": {
740
+ "distance": "6.79 meters",
741
  "closeness rank": 2
742
  },
743
  "door": {
 
745
  "closeness rank": 3
746
  },
747
  "power strip": {
748
+ "distance": "6.25 meters",
749
  "closeness rank": 4
750
  },
751
  "ceiling light": {
752
+ "distance": "6.49 meters",
753
  "closeness rank": 5
754
  },
755
  "whiteboard": {
 
757
  "closeness rank": 6
758
  },
759
  "clock": {
760
+ "distance": "7.4 meters",
761
  "closeness rank": 7
762
  }
763
  },
764
  "chair": {
765
  "table": {
766
+ "distance": "4.78 meters",
767
  "closeness rank": 1
768
  },
769
  "whiteboard": {
770
+ "distance": "1.4 meters",
771
  "closeness rank": 2
772
  },
773
  "heater": {
774
+ "distance": "1.53 meters",
775
  "closeness rank": 3
776
  },
777
  "power strip": {
778
+ "distance": "4.6 meters",
779
  "closeness rank": 4
780
  },
781
  "door": {
782
+ "distance": "1.07 meters",
783
  "closeness rank": 5
784
  },
785
  "clock": {
786
+ "distance": "5.39 meters",
787
  "closeness rank": 6
788
  },
789
  "ceiling light": {
790
+ "distance": "4.53 meters",
791
  "closeness rank": 7
792
  }
793
  },
794
  "table": {
795
  "chair": {
796
+ "distance": "4.78 meters",
797
  "closeness rank": 1
798
  },
799
  "heater": {
800
+ "distance": "6.79 meters",
801
  "closeness rank": 2
802
  },
803
  "whiteboard": {
804
+ "distance": "4.25 meters",
805
  "closeness rank": 3
806
  },
807
  "power strip": {
808
+ "distance": "1.79 meters",
809
  "closeness rank": 4
810
  },
811
  "door": {
812
+ "distance": "5.74 meters",
813
  "closeness rank": 5
814
  },
815
  "clock": {
 
823
  },
824
  "clock": {
825
  "whiteboard": {
826
+ "distance": "3.66 meters",
827
  "closeness rank": 1
828
  },
829
  "ceiling light": {
 
831
  "closeness rank": 2
832
  },
833
  "chair": {
834
+ "distance": "5.39 meters",
835
  "closeness rank": 3
836
  },
837
  "door": {
838
+ "distance": "6.39 meters",
839
  "closeness rank": 4
840
  },
841
  "table": {
 
847
  "closeness rank": 6
848
  },
849
  "heater": {
850
+ "distance": "7.4 meters",
851
  "closeness rank": 7
852
  }
853
  },
854
  "whiteboard": {
855
  "chair": {
856
+ "distance": "1.4 meters",
857
  "closeness rank": 1
858
  },
859
  "clock": {
860
+ "distance": "3.66 meters",
861
  "closeness rank": 2
862
  },
863
  "door": {
864
+ "distance": "2.4 meters",
865
  "closeness rank": 3
866
  },
867
  "table": {
868
+ "distance": "4.25 meters",
869
  "closeness rank": 4
870
  },
871
  "ceiling light": {
872
+ "distance": "3.18 meters",
873
  "closeness rank": 5
874
  },
875
  "power strip": {
876
+ "distance": "5.19 meters",
877
  "closeness rank": 6
878
  },
879
  "heater": {
 
887
  "closeness rank": 1
888
  },
889
  "whiteboard": {
890
+ "distance": "2.4 meters",
891
  "closeness rank": 2
892
  },
893
  "chair": {
894
+ "distance": "1.07 meters",
895
  "closeness rank": 3
896
  },
897
  "power strip": {
898
+ "distance": "4.83 meters",
899
  "closeness rank": 4
900
  },
901
  "table": {
902
+ "distance": "5.74 meters",
903
  "closeness rank": 5
904
  },
905
  "ceiling light": {
906
+ "distance": "5.27 meters",
907
  "closeness rank": 6
908
  },
909
  "clock": {
910
+ "distance": "6.39 meters",
911
  "closeness rank": 7
912
  }
913
  },
914
  "power strip": {
915
  "chair": {
916
+ "distance": "4.6 meters",
917
  "closeness rank": 1
918
  },
919
  "table": {
920
+ "distance": "1.79 meters",
921
  "closeness rank": 2
922
  },
923
  "heater": {
924
+ "distance": "6.25 meters",
925
  "closeness rank": 3
926
  },
927
  "door": {
928
+ "distance": "4.83 meters",
929
  "closeness rank": 4
930
  },
931
  "ceiling light": {
932
+ "distance": "3.19 meters",
933
  "closeness rank": 5
934
  },
935
  "whiteboard": {
936
+ "distance": "5.19 meters",
937
  "closeness rank": 6
938
  },
939
  "clock": {
 
942
  }
943
  }
944
  },
945
+ "appearance order": ["ceiling light", "heater", "chair", "table", "clock", "whiteboard", "door", "power strip"]
 
 
 
 
 
 
 
 
 
946
  }
data/spatial codes/ground truth/explicit/c49a8c6cff.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -298,7 +298,7 @@
298
  "closeness rank": 2
299
  },
300
  "computer mouse": {
301
- "distance": "0.1 meters",
302
  "closeness rank": 3
303
  },
304
  "chair": {
@@ -310,7 +310,7 @@
310
  "closeness rank": 5
311
  },
312
  "plant": {
313
- "distance": "0.2 meters",
314
  "closeness rank": 6
315
  },
316
  "headphones": {
@@ -318,11 +318,11 @@
318
  "closeness rank": 7
319
  },
320
  "trash can": {
321
- "distance": "0.42 meters",
322
  "closeness rank": 8
323
  },
324
  "bed": {
325
- "distance": "0.53 meters",
326
  "closeness rank": 9
327
  },
328
  "heater": {
@@ -330,15 +330,15 @@
330
  "closeness rank": 10
331
  },
332
  "ceiling light": {
333
- "distance": "1.37 meters",
334
  "closeness rank": 11
335
  },
336
  "pillow": {
337
- "distance": "1.5 meters",
338
  "closeness rank": 12
339
  },
340
  "shoes": {
341
- "distance": "1.73 meters",
342
  "closeness rank": 13
343
  },
344
  "door": {
@@ -414,11 +414,11 @@
414
  "closeness rank": 2
415
  },
416
  "monitor": {
417
- "distance": "0.53 meters",
418
  "closeness rank": 3
419
  },
420
  "plant": {
421
- "distance": "0.61 meters",
422
  "closeness rank": 4
423
  },
424
  "table": {
@@ -450,7 +450,7 @@
450
  "closeness rank": 11
451
  },
452
  "shoes": {
453
- "distance": "1.64 meters",
454
  "closeness rank": 12
455
  },
456
  "heater": {
@@ -492,7 +492,7 @@
492
  "closeness rank": 7
493
  },
494
  "plant": {
495
- "distance": "0.45 meters",
496
  "closeness rank": 8
497
  },
498
  "heater": {
@@ -504,15 +504,15 @@
504
  "closeness rank": 10
505
  },
506
  "shoes": {
507
- "distance": "0.87 meters",
508
  "closeness rank": 11
509
  },
510
  "ceiling light": {
511
- "distance": "1.23 meters",
512
  "closeness rank": 12
513
  },
514
  "pillow": {
515
- "distance": "1.28 meters",
516
  "closeness rank": 13
517
  },
518
  "door": {
@@ -522,55 +522,55 @@
522
  },
523
  "plant": {
524
  "monitor": {
525
- "distance": "0.2 meters",
526
  "closeness rank": 1
527
  },
528
  "chair": {
529
- "distance": "0.45 meters",
530
  "closeness rank": 2
531
  },
532
  "bed": {
533
- "distance": "0.61 meters",
534
  "closeness rank": 3
535
  },
536
  "table": {
537
- "distance": "0.62 meters",
538
  "closeness rank": 4
539
  },
540
  "keyboard": {
541
- "distance": "0.64 meters",
542
  "closeness rank": 5
543
  },
544
  "cup": {
545
- "distance": "0.69 meters",
546
  "closeness rank": 6
547
  },
548
  "headphones": {
549
- "distance": "0.7 meters",
550
  "closeness rank": 7
551
  },
552
  "computer mouse": {
553
- "distance": "0.74 meters",
554
  "closeness rank": 8
555
  },
556
  "trash can": {
557
- "distance": "1.15 meters",
558
  "closeness rank": 9
559
  },
560
  "ceiling light": {
561
- "distance": "1.19 meters",
562
  "closeness rank": 10
563
  },
564
  "heater": {
565
- "distance": "1.75 meters",
566
  "closeness rank": 11
567
  },
568
  "pillow": {
569
- "distance": "1.93 meters",
570
  "closeness rank": 12
571
  },
572
  "shoes": {
573
- "distance": "2.24 meters",
574
  "closeness rank": 13
575
  },
576
  "door": {
@@ -580,7 +580,7 @@
580
  },
581
  "headphones": {
582
  "table": {
583
- "distance": "0.1 meters",
584
  "closeness rank": 1
585
  },
586
  "cup": {
@@ -600,11 +600,11 @@
600
  "closeness rank": 5
601
  },
602
  "plant": {
603
- "distance": "0.7 meters",
604
  "closeness rank": 6
605
  },
606
  "heater": {
607
- "distance": "0.87 meters",
608
  "closeness rank": 7
609
  },
610
  "computer mouse": {
@@ -612,11 +612,11 @@
612
  "closeness rank": 8
613
  },
614
  "trash can": {
615
- "distance": "1.04 meters",
616
  "closeness rank": 9
617
  },
618
  "shoes": {
619
- "distance": "1.4 meters",
620
  "closeness rank": 10
621
  },
622
  "bed": {
@@ -628,7 +628,7 @@
628
  "closeness rank": 12
629
  },
630
  "pillow": {
631
- "distance": "2.33 meters",
632
  "closeness rank": 13
633
  },
634
  "door": {
@@ -662,7 +662,7 @@
662
  "closeness rank": 6
663
  },
664
  "headphones": {
665
- "distance": "0.1 meters",
666
  "closeness rank": 7
667
  },
668
  "heater": {
@@ -670,7 +670,7 @@
670
  "closeness rank": 8
671
  },
672
  "plant": {
673
- "distance": "0.62 meters",
674
  "closeness rank": 9
675
  },
676
  "bed": {
@@ -678,15 +678,15 @@
678
  "closeness rank": 10
679
  },
680
  "shoes": {
681
- "distance": "1.06 meters",
682
  "closeness rank": 11
683
  },
684
  "pillow": {
685
- "distance": "1.3 meters",
686
  "closeness rank": 12
687
  },
688
  "ceiling light": {
689
- "distance": "1.63 meters",
690
  "closeness rank": 13
691
  },
692
  "door": {
@@ -720,19 +720,19 @@
720
  "closeness rank": 6
721
  },
722
  "plant": {
723
- "distance": "0.69 meters",
724
  "closeness rank": 7
725
  },
726
  "trash can": {
727
- "distance": "0.74 meters",
728
  "closeness rank": 8
729
  },
730
  "heater": {
731
- "distance": "0.91 meters",
732
  "closeness rank": 9
733
  },
734
  "shoes": {
735
- "distance": "1.46 meters",
736
  "closeness rank": 10
737
  },
738
  "bed": {
@@ -740,11 +740,11 @@
740
  "closeness rank": 11
741
  },
742
  "ceiling light": {
743
- "distance": "2.04 meters",
744
  "closeness rank": 12
745
  },
746
  "pillow": {
747
- "distance": "2.19 meters",
748
  "closeness rank": 13
749
  },
750
  "door": {
@@ -762,11 +762,11 @@
762
  "closeness rank": 2
763
  },
764
  "monitor": {
765
- "distance": "0.1 meters",
766
  "closeness rank": 3
767
  },
768
  "keyboard": {
769
- "distance": "0.13 meters",
770
  "closeness rank": 4
771
  },
772
  "trash can": {
@@ -778,7 +778,7 @@
778
  "closeness rank": 6
779
  },
780
  "plant": {
781
- "distance": "0.74 meters",
782
  "closeness rank": 7
783
  },
784
  "headphones": {
@@ -794,11 +794,11 @@
794
  "closeness rank": 10
795
  },
796
  "pillow": {
797
- "distance": "1.63 meters",
798
  "closeness rank": 11
799
  },
800
  "shoes": {
801
- "distance": "1.64 meters",
802
  "closeness rank": 12
803
  },
804
  "ceiling light": {
@@ -828,7 +828,7 @@
828
  "closeness rank": 4
829
  },
830
  "computer mouse": {
831
- "distance": "0.13 meters",
832
  "closeness rank": 5
833
  },
834
  "headphones": {
@@ -840,7 +840,7 @@
840
  "closeness rank": 7
841
  },
842
  "plant": {
843
- "distance": "0.64 meters",
844
  "closeness rank": 8
845
  },
846
  "heater": {
@@ -852,11 +852,11 @@
852
  "closeness rank": 10
853
  },
854
  "shoes": {
855
- "distance": "1.58 meters",
856
  "closeness rank": 11
857
  },
858
  "pillow": {
859
- "distance": "1.88 meters",
860
  "closeness rank": 12
861
  },
862
  "ceiling light": {
@@ -878,7 +878,7 @@
878
  "closeness rank": 2
879
  },
880
  "monitor": {
881
- "distance": "0.42 meters",
882
  "closeness rank": 3
883
  },
884
  "computer mouse": {
@@ -894,15 +894,15 @@
894
  "closeness rank": 6
895
  },
896
  "cup": {
897
- "distance": "0.74 meters",
898
  "closeness rank": 7
899
  },
900
  "headphones": {
901
- "distance": "1.04 meters",
902
  "closeness rank": 8
903
  },
904
  "plant": {
905
- "distance": "1.15 meters",
906
  "closeness rank": 9
907
  },
908
  "heater": {
@@ -910,11 +910,11 @@
910
  "closeness rank": 10
911
  },
912
  "shoes": {
913
- "distance": "1.59 meters",
914
  "closeness rank": 11
915
  },
916
  "pillow": {
917
- "distance": "1.64 meters",
918
  "closeness rank": 12
919
  },
920
  "ceiling light": {
@@ -928,11 +928,11 @@
928
  },
929
  "ceiling light": {
930
  "plant": {
931
- "distance": "1.19 meters",
932
  "closeness rank": 1
933
  },
934
  "chair": {
935
- "distance": "1.23 meters",
936
  "closeness rank": 2
937
  },
938
  "bed": {
@@ -940,15 +940,15 @@
940
  "closeness rank": 3
941
  },
942
  "monitor": {
943
- "distance": "1.37 meters",
944
  "closeness rank": 4
945
  },
946
  "pillow": {
947
- "distance": "1.48 meters",
948
  "closeness rank": 5
949
  },
950
  "table": {
951
- "distance": "1.63 meters",
952
  "closeness rank": 6
953
  },
954
  "door": {
@@ -964,7 +964,7 @@
964
  "closeness rank": 9
965
  },
966
  "cup": {
967
- "distance": "2.04 meters",
968
  "closeness rank": 10
969
  },
970
  "headphones": {
@@ -980,61 +980,61 @@
980
  "closeness rank": 13
981
  },
982
  "shoes": {
983
- "distance": "2.53 meters",
984
  "closeness rank": 14
985
  }
986
  },
987
  "shoes": {
988
  "heater": {
989
- "distance": "0.0 meters",
990
  "closeness rank": 1
991
  },
992
  "chair": {
993
- "distance": "0.87 meters",
994
  "closeness rank": 2
995
  },
996
  "table": {
997
- "distance": "1.06 meters",
998
  "closeness rank": 3
999
  },
1000
  "headphones": {
1001
- "distance": "1.4 meters",
1002
  "closeness rank": 4
1003
  },
1004
  "cup": {
1005
- "distance": "1.46 meters",
1006
  "closeness rank": 5
1007
  },
1008
  "keyboard": {
1009
- "distance": "1.58 meters",
1010
  "closeness rank": 6
1011
  },
1012
  "trash can": {
1013
- "distance": "1.59 meters",
1014
  "closeness rank": 7
1015
  },
1016
  "bed": {
1017
- "distance": "1.64 meters",
1018
  "closeness rank": 8
1019
  },
1020
  "computer mouse": {
1021
- "distance": "1.64 meters",
1022
  "closeness rank": 9
1023
  },
1024
  "monitor": {
1025
- "distance": "1.73 meters",
1026
  "closeness rank": 10
1027
  },
1028
  "pillow": {
1029
- "distance": "1.85 meters",
1030
  "closeness rank": 11
1031
  },
1032
  "plant": {
1033
- "distance": "2.24 meters",
1034
  "closeness rank": 12
1035
  },
1036
  "ceiling light": {
1037
- "distance": "2.53 meters",
1038
  "closeness rank": 13
1039
  },
1040
  "door": {
@@ -1044,7 +1044,7 @@
1044
  },
1045
  "heater": {
1046
  "shoes": {
1047
- "distance": "0.0 meters",
1048
  "closeness rank": 1
1049
  },
1050
  "chair": {
@@ -1056,11 +1056,11 @@
1056
  "closeness rank": 3
1057
  },
1058
  "headphones": {
1059
- "distance": "0.87 meters",
1060
  "closeness rank": 4
1061
  },
1062
  "cup": {
1063
- "distance": "0.91 meters",
1064
  "closeness rank": 5
1065
  },
1066
  "keyboard": {
@@ -1080,7 +1080,7 @@
1080
  "closeness rank": 9
1081
  },
1082
  "plant": {
1083
- "distance": "1.75 meters",
1084
  "closeness rank": 10
1085
  },
1086
  "bed": {
@@ -1088,7 +1088,7 @@
1088
  "closeness rank": 11
1089
  },
1090
  "pillow": {
1091
- "distance": "2.06 meters",
1092
  "closeness rank": 12
1093
  },
1094
  "ceiling light": {
@@ -1110,70 +1110,54 @@
1110
  "closeness rank": 2
1111
  },
1112
  "chair": {
1113
- "distance": "1.28 meters",
1114
  "closeness rank": 3
1115
  },
1116
  "table": {
1117
- "distance": "1.3 meters",
1118
  "closeness rank": 4
1119
  },
1120
  "ceiling light": {
1121
- "distance": "1.48 meters",
1122
  "closeness rank": 5
1123
  },
1124
  "monitor": {
1125
- "distance": "1.5 meters",
1126
  "closeness rank": 6
1127
  },
1128
  "computer mouse": {
1129
- "distance": "1.63 meters",
1130
  "closeness rank": 7
1131
  },
1132
  "trash can": {
1133
- "distance": "1.64 meters",
1134
  "closeness rank": 8
1135
  },
1136
  "shoes": {
1137
- "distance": "1.85 meters",
1138
  "closeness rank": 9
1139
  },
1140
  "keyboard": {
1141
- "distance": "1.88 meters",
1142
  "closeness rank": 10
1143
  },
1144
  "plant": {
1145
- "distance": "1.93 meters",
1146
  "closeness rank": 11
1147
  },
1148
  "heater": {
1149
- "distance": "2.06 meters",
1150
  "closeness rank": 12
1151
  },
1152
  "cup": {
1153
- "distance": "2.19 meters",
1154
  "closeness rank": 13
1155
  },
1156
  "headphones": {
1157
- "distance": "2.33 meters",
1158
  "closeness rank": 14
1159
  }
1160
  }
1161
  },
1162
- "appearance order": [
1163
- "monitor",
1164
- "door",
1165
- "bed",
1166
- "chair",
1167
- "plant",
1168
- "headphones",
1169
- "table",
1170
- "cup",
1171
- "computer mouse",
1172
- "keyboard",
1173
- "trash can",
1174
- "ceiling light",
1175
- "shoes",
1176
- "heater",
1177
- "pillow"
1178
- ]
1179
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
298
  "closeness rank": 2
299
  },
300
  "computer mouse": {
301
+ "distance": "0.17 meters",
302
  "closeness rank": 3
303
  },
304
  "chair": {
 
310
  "closeness rank": 5
311
  },
312
  "plant": {
313
+ "distance": "0.51 meters",
314
  "closeness rank": 6
315
  },
316
  "headphones": {
 
318
  "closeness rank": 7
319
  },
320
  "trash can": {
321
+ "distance": "0.5 meters",
322
  "closeness rank": 8
323
  },
324
  "bed": {
325
+ "distance": "0.9 meters",
326
  "closeness rank": 9
327
  },
328
  "heater": {
 
330
  "closeness rank": 10
331
  },
332
  "ceiling light": {
333
+ "distance": "1.68 meters",
334
  "closeness rank": 11
335
  },
336
  "pillow": {
337
+ "distance": "2.35 meters",
338
  "closeness rank": 12
339
  },
340
  "shoes": {
341
+ "distance": "2.04 meters",
342
  "closeness rank": 13
343
  },
344
  "door": {
 
414
  "closeness rank": 2
415
  },
416
  "monitor": {
417
+ "distance": "0.9 meters",
418
  "closeness rank": 3
419
  },
420
  "plant": {
421
+ "distance": "0.7 meters",
422
  "closeness rank": 4
423
  },
424
  "table": {
 
450
  "closeness rank": 11
451
  },
452
  "shoes": {
453
+ "distance": "1.69 meters",
454
  "closeness rank": 12
455
  },
456
  "heater": {
 
492
  "closeness rank": 7
493
  },
494
  "plant": {
495
+ "distance": "0.62 meters",
496
  "closeness rank": 8
497
  },
498
  "heater": {
 
504
  "closeness rank": 10
505
  },
506
  "shoes": {
507
+ "distance": "1.1 meters",
508
  "closeness rank": 11
509
  },
510
  "ceiling light": {
511
+ "distance": "1.31 meters",
512
  "closeness rank": 12
513
  },
514
  "pillow": {
515
+ "distance": "1.6 meters",
516
  "closeness rank": 13
517
  },
518
  "door": {
 
522
  },
523
  "plant": {
524
  "monitor": {
525
+ "distance": "0.51 meters",
526
  "closeness rank": 1
527
  },
528
  "chair": {
529
+ "distance": "0.62 meters",
530
  "closeness rank": 2
531
  },
532
  "bed": {
533
+ "distance": "0.7 meters",
534
  "closeness rank": 3
535
  },
536
  "table": {
537
+ "distance": "0.68 meters",
538
  "closeness rank": 4
539
  },
540
  "keyboard": {
541
+ "distance": "0.84 meters",
542
  "closeness rank": 5
543
  },
544
  "cup": {
545
+ "distance": "1.2 meters",
546
  "closeness rank": 6
547
  },
548
  "headphones": {
549
+ "distance": "1.29 meters",
550
  "closeness rank": 7
551
  },
552
  "computer mouse": {
553
+ "distance": "0.82 meters",
554
  "closeness rank": 8
555
  },
556
  "trash can": {
557
+ "distance": "1.21 meters",
558
  "closeness rank": 9
559
  },
560
  "ceiling light": {
561
+ "distance": "1.22 meters",
562
  "closeness rank": 10
563
  },
564
  "heater": {
565
+ "distance": "2.02 meters",
566
  "closeness rank": 11
567
  },
568
  "pillow": {
569
+ "distance": "2.1 meters",
570
  "closeness rank": 12
571
  },
572
  "shoes": {
573
+ "distance": "2.83 meters",
574
  "closeness rank": 13
575
  },
576
  "door": {
 
580
  },
581
  "headphones": {
582
  "table": {
583
+ "distance": "0.11 meters",
584
  "closeness rank": 1
585
  },
586
  "cup": {
 
600
  "closeness rank": 5
601
  },
602
  "plant": {
603
+ "distance": "1.29 meters",
604
  "closeness rank": 6
605
  },
606
  "heater": {
607
+ "distance": "0.88 meters",
608
  "closeness rank": 7
609
  },
610
  "computer mouse": {
 
612
  "closeness rank": 8
613
  },
614
  "trash can": {
615
+ "distance": "1.08 meters",
616
  "closeness rank": 9
617
  },
618
  "shoes": {
619
+ "distance": "1.83 meters",
620
  "closeness rank": 10
621
  },
622
  "bed": {
 
628
  "closeness rank": 12
629
  },
630
  "pillow": {
631
+ "distance": "2.85 meters",
632
  "closeness rank": 13
633
  },
634
  "door": {
 
662
  "closeness rank": 6
663
  },
664
  "headphones": {
665
+ "distance": "0.11 meters",
666
  "closeness rank": 7
667
  },
668
  "heater": {
 
670
  "closeness rank": 8
671
  },
672
  "plant": {
673
+ "distance": "0.68 meters",
674
  "closeness rank": 9
675
  },
676
  "bed": {
 
678
  "closeness rank": 10
679
  },
680
  "shoes": {
681
+ "distance": "1.36 meters",
682
  "closeness rank": 11
683
  },
684
  "pillow": {
685
+ "distance": "1.91 meters",
686
  "closeness rank": 12
687
  },
688
  "ceiling light": {
689
+ "distance": "1.67 meters",
690
  "closeness rank": 13
691
  },
692
  "door": {
 
720
  "closeness rank": 6
721
  },
722
  "plant": {
723
+ "distance": "1.2 meters",
724
  "closeness rank": 7
725
  },
726
  "trash can": {
727
+ "distance": "0.83 meters",
728
  "closeness rank": 8
729
  },
730
  "heater": {
731
+ "distance": "0.92 meters",
732
  "closeness rank": 9
733
  },
734
  "shoes": {
735
+ "distance": "1.88 meters",
736
  "closeness rank": 10
737
  },
738
  "bed": {
 
740
  "closeness rank": 11
741
  },
742
  "ceiling light": {
743
+ "distance": "2.05 meters",
744
  "closeness rank": 12
745
  },
746
  "pillow": {
747
+ "distance": "2.7 meters",
748
  "closeness rank": 13
749
  },
750
  "door": {
 
762
  "closeness rank": 2
763
  },
764
  "monitor": {
765
+ "distance": "0.17 meters",
766
  "closeness rank": 3
767
  },
768
  "keyboard": {
769
+ "distance": "0.15 meters",
770
  "closeness rank": 4
771
  },
772
  "trash can": {
 
778
  "closeness rank": 6
779
  },
780
  "plant": {
781
+ "distance": "0.82 meters",
782
  "closeness rank": 7
783
  },
784
  "headphones": {
 
794
  "closeness rank": 10
795
  },
796
  "pillow": {
797
+ "distance": "2.09 meters",
798
  "closeness rank": 11
799
  },
800
  "shoes": {
801
+ "distance": "2.02 meters",
802
  "closeness rank": 12
803
  },
804
  "ceiling light": {
 
828
  "closeness rank": 4
829
  },
830
  "computer mouse": {
831
+ "distance": "0.15 meters",
832
  "closeness rank": 5
833
  },
834
  "headphones": {
 
840
  "closeness rank": 7
841
  },
842
  "plant": {
843
+ "distance": "0.84 meters",
844
  "closeness rank": 8
845
  },
846
  "heater": {
 
852
  "closeness rank": 10
853
  },
854
  "shoes": {
855
+ "distance": "1.94 meters",
856
  "closeness rank": 11
857
  },
858
  "pillow": {
859
+ "distance": "2.36 meters",
860
  "closeness rank": 12
861
  },
862
  "ceiling light": {
 
878
  "closeness rank": 2
879
  },
880
  "monitor": {
881
+ "distance": "0.5 meters",
882
  "closeness rank": 3
883
  },
884
  "computer mouse": {
 
894
  "closeness rank": 6
895
  },
896
  "cup": {
897
+ "distance": "0.83 meters",
898
  "closeness rank": 7
899
  },
900
  "headphones": {
901
+ "distance": "1.08 meters",
902
  "closeness rank": 8
903
  },
904
  "plant": {
905
+ "distance": "1.21 meters",
906
  "closeness rank": 9
907
  },
908
  "heater": {
 
910
  "closeness rank": 10
911
  },
912
  "shoes": {
913
+ "distance": "1.94 meters",
914
  "closeness rank": 11
915
  },
916
  "pillow": {
917
+ "distance": "2.05 meters",
918
  "closeness rank": 12
919
  },
920
  "ceiling light": {
 
928
  },
929
  "ceiling light": {
930
  "plant": {
931
+ "distance": "1.22 meters",
932
  "closeness rank": 1
933
  },
934
  "chair": {
935
+ "distance": "1.31 meters",
936
  "closeness rank": 2
937
  },
938
  "bed": {
 
940
  "closeness rank": 3
941
  },
942
  "monitor": {
943
+ "distance": "1.68 meters",
944
  "closeness rank": 4
945
  },
946
  "pillow": {
947
+ "distance": "1.58 meters",
948
  "closeness rank": 5
949
  },
950
  "table": {
951
+ "distance": "1.67 meters",
952
  "closeness rank": 6
953
  },
954
  "door": {
 
964
  "closeness rank": 9
965
  },
966
  "cup": {
967
+ "distance": "2.05 meters",
968
  "closeness rank": 10
969
  },
970
  "headphones": {
 
980
  "closeness rank": 13
981
  },
982
  "shoes": {
983
+ "distance": "2.68 meters",
984
  "closeness rank": 14
985
  }
986
  },
987
  "shoes": {
988
  "heater": {
989
+ "distance": "0.07 meters",
990
  "closeness rank": 1
991
  },
992
  "chair": {
993
+ "distance": "1.1 meters",
994
  "closeness rank": 2
995
  },
996
  "table": {
997
+ "distance": "1.36 meters",
998
  "closeness rank": 3
999
  },
1000
  "headphones": {
1001
+ "distance": "1.83 meters",
1002
  "closeness rank": 4
1003
  },
1004
  "cup": {
1005
+ "distance": "1.88 meters",
1006
  "closeness rank": 5
1007
  },
1008
  "keyboard": {
1009
+ "distance": "1.94 meters",
1010
  "closeness rank": 6
1011
  },
1012
  "trash can": {
1013
+ "distance": "1.94 meters",
1014
  "closeness rank": 7
1015
  },
1016
  "bed": {
1017
+ "distance": "1.69 meters",
1018
  "closeness rank": 8
1019
  },
1020
  "computer mouse": {
1021
+ "distance": "2.02 meters",
1022
  "closeness rank": 9
1023
  },
1024
  "monitor": {
1025
+ "distance": "2.04 meters",
1026
  "closeness rank": 10
1027
  },
1028
  "pillow": {
1029
+ "distance": "2.58 meters",
1030
  "closeness rank": 11
1031
  },
1032
  "plant": {
1033
+ "distance": "2.83 meters",
1034
  "closeness rank": 12
1035
  },
1036
  "ceiling light": {
1037
+ "distance": "2.68 meters",
1038
  "closeness rank": 13
1039
  },
1040
  "door": {
 
1044
  },
1045
  "heater": {
1046
  "shoes": {
1047
+ "distance": "0.07 meters",
1048
  "closeness rank": 1
1049
  },
1050
  "chair": {
 
1056
  "closeness rank": 3
1057
  },
1058
  "headphones": {
1059
+ "distance": "0.88 meters",
1060
  "closeness rank": 4
1061
  },
1062
  "cup": {
1063
+ "distance": "0.92 meters",
1064
  "closeness rank": 5
1065
  },
1066
  "keyboard": {
 
1080
  "closeness rank": 9
1081
  },
1082
  "plant": {
1083
+ "distance": "2.02 meters",
1084
  "closeness rank": 10
1085
  },
1086
  "bed": {
 
1088
  "closeness rank": 11
1089
  },
1090
  "pillow": {
1091
+ "distance": "2.29 meters",
1092
  "closeness rank": 12
1093
  },
1094
  "ceiling light": {
 
1110
  "closeness rank": 2
1111
  },
1112
  "chair": {
1113
+ "distance": "1.6 meters",
1114
  "closeness rank": 3
1115
  },
1116
  "table": {
1117
+ "distance": "1.91 meters",
1118
  "closeness rank": 4
1119
  },
1120
  "ceiling light": {
1121
+ "distance": "1.58 meters",
1122
  "closeness rank": 5
1123
  },
1124
  "monitor": {
1125
+ "distance": "2.35 meters",
1126
  "closeness rank": 6
1127
  },
1128
  "computer mouse": {
1129
+ "distance": "2.09 meters",
1130
  "closeness rank": 7
1131
  },
1132
  "trash can": {
1133
+ "distance": "2.05 meters",
1134
  "closeness rank": 8
1135
  },
1136
  "shoes": {
1137
+ "distance": "2.58 meters",
1138
  "closeness rank": 9
1139
  },
1140
  "keyboard": {
1141
+ "distance": "2.36 meters",
1142
  "closeness rank": 10
1143
  },
1144
  "plant": {
1145
+ "distance": "2.1 meters",
1146
  "closeness rank": 11
1147
  },
1148
  "heater": {
1149
+ "distance": "2.29 meters",
1150
  "closeness rank": 12
1151
  },
1152
  "cup": {
1153
+ "distance": "2.7 meters",
1154
  "closeness rank": 13
1155
  },
1156
  "headphones": {
1157
+ "distance": "2.85 meters",
1158
  "closeness rank": 14
1159
  }
1160
  }
1161
  },
1162
+ "appearance order": ["monitor", "door", "bed", "chair", "plant", "headphones", "table", "cup", "computer mouse", "keyboard", "trash can", "ceiling light", "shoes", "heater", "pillow"]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1163
  }
data/spatial codes/ground truth/explicit/c50d2d1d42.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -368,7 +368,7 @@
368
  "closest classes distance meters from": {
369
  "trash can": {
370
  "chair": {
371
- "distance": "0.45 meters",
372
  "closeness rank": 1
373
  },
374
  "door": {
@@ -376,7 +376,7 @@
376
  "closeness rank": 2
377
  },
378
  "computer tower": {
379
- "distance": "1.42 meters",
380
  "closeness rank": 3
381
  },
382
  "coat hanger": {
@@ -384,19 +384,19 @@
384
  "closeness rank": 4
385
  },
386
  "monitor": {
387
- "distance": "1.56 meters",
388
  "closeness rank": 5
389
  },
390
  "keyboard": {
391
- "distance": "2.04 meters",
392
  "closeness rank": 6
393
  },
394
  "computer mouse": {
395
- "distance": "2.37 meters",
396
  "closeness rank": 7
397
  },
398
  "ceiling light": {
399
- "distance": "2.48 meters",
400
  "closeness rank": 8
401
  },
402
  "heater": {
@@ -404,11 +404,11 @@
404
  "closeness rank": 9
405
  },
406
  "headphones": {
407
- "distance": "3.02 meters",
408
  "closeness rank": 10
409
  },
410
  "telephone": {
411
- "distance": "3.11 meters",
412
  "closeness rank": 11
413
  },
414
  "whiteboard": {
@@ -418,7 +418,7 @@
418
  },
419
  "heater": {
420
  "computer tower": {
421
- "distance": "0.19 meters",
422
  "closeness rank": 1
423
  },
424
  "telephone": {
@@ -426,7 +426,7 @@
426
  "closeness rank": 2
427
  },
428
  "monitor": {
429
- "distance": "0.33 meters",
430
  "closeness rank": 3
431
  },
432
  "chair": {
@@ -434,23 +434,23 @@
434
  "closeness rank": 4
435
  },
436
  "headphones": {
437
- "distance": "0.49 meters",
438
  "closeness rank": 5
439
  },
440
  "keyboard": {
441
- "distance": "0.61 meters",
442
  "closeness rank": 6
443
  },
444
  "computer mouse": {
445
- "distance": "0.75 meters",
446
  "closeness rank": 7
447
  },
448
  "whiteboard": {
449
- "distance": "0.79 meters",
450
  "closeness rank": 8
451
  },
452
  "ceiling light": {
453
- "distance": "2.4 meters",
454
  "closeness rank": 9
455
  },
456
  "trash can": {
@@ -468,43 +468,43 @@
468
  },
469
  "computer tower": {
470
  "chair": {
471
- "distance": "0.0 meters",
472
  "closeness rank": 1
473
  },
474
  "heater": {
475
- "distance": "0.19 meters",
476
  "closeness rank": 2
477
  },
478
  "headphones": {
479
- "distance": "0.24 meters",
480
  "closeness rank": 3
481
  },
482
  "monitor": {
483
- "distance": "0.26 meters",
484
  "closeness rank": 4
485
  },
486
  "keyboard": {
487
- "distance": "0.27 meters",
488
  "closeness rank": 5
489
  },
490
  "computer mouse": {
491
- "distance": "0.32 meters",
492
  "closeness rank": 6
493
  },
494
  "telephone": {
495
- "distance": "0.51 meters",
496
  "closeness rank": 7
497
  },
498
  "whiteboard": {
499
- "distance": "0.87 meters",
500
  "closeness rank": 8
501
  },
502
  "trash can": {
503
- "distance": "1.42 meters",
504
  "closeness rank": 9
505
  },
506
  "ceiling light": {
507
- "distance": "2.35 meters",
508
  "closeness rank": 10
509
  },
510
  "door": {
@@ -526,27 +526,27 @@
526
  "closeness rank": 2
527
  },
528
  "computer tower": {
529
- "distance": "0.51 meters",
530
  "closeness rank": 3
531
  },
532
  "computer mouse": {
533
- "distance": "0.69 meters",
534
  "closeness rank": 4
535
  },
536
  "keyboard": {
537
- "distance": "0.85 meters",
538
  "closeness rank": 5
539
  },
540
  "headphones": {
541
- "distance": "0.88 meters",
542
  "closeness rank": 6
543
  },
544
  "chair": {
545
- "distance": "0.89 meters",
546
  "closeness rank": 7
547
  },
548
  "ceiling light": {
549
- "distance": "2.0 meters",
550
  "closeness rank": 8
551
  },
552
  "whiteboard": {
@@ -554,11 +554,11 @@
554
  "closeness rank": 9
555
  },
556
  "trash can": {
557
- "distance": "3.11 meters",
558
  "closeness rank": 10
559
  },
560
  "coat hanger": {
561
- "distance": "4.28 meters",
562
  "closeness rank": 11
563
  },
564
  "door": {
@@ -572,11 +572,11 @@
572
  "closeness rank": 1
573
  },
574
  "computer mouse": {
575
- "distance": "0.15 meters",
576
  "closeness rank": 2
577
  },
578
  "chair": {
579
- "distance": "0.23 meters",
580
  "closeness rank": 3
581
  },
582
  "headphones": {
@@ -584,11 +584,11 @@
584
  "closeness rank": 4
585
  },
586
  "computer tower": {
587
- "distance": "0.26 meters",
588
  "closeness rank": 5
589
  },
590
  "heater": {
591
- "distance": "0.33 meters",
592
  "closeness rank": 6
593
  },
594
  "telephone": {
@@ -596,11 +596,11 @@
596
  "closeness rank": 7
597
  },
598
  "ceiling light": {
599
- "distance": "0.59 meters",
600
  "closeness rank": 8
601
  },
602
  "door": {
603
- "distance": "0.63 meters",
604
  "closeness rank": 9
605
  },
606
  "whiteboard": {
@@ -608,11 +608,11 @@
608
  "closeness rank": 10
609
  },
610
  "trash can": {
611
- "distance": "1.56 meters",
612
  "closeness rank": 11
613
  },
614
  "coat hanger": {
615
- "distance": "1.92 meters",
616
  "closeness rank": 12
617
  }
618
  },
@@ -622,11 +622,11 @@
622
  "closeness rank": 1
623
  },
624
  "chair": {
625
- "distance": "0.06 meters",
626
  "closeness rank": 2
627
  },
628
  "computer tower": {
629
- "distance": "0.24 meters",
630
  "closeness rank": 3
631
  },
632
  "monitor": {
@@ -638,11 +638,11 @@
638
  "closeness rank": 5
639
  },
640
  "heater": {
641
- "distance": "0.49 meters",
642
  "closeness rank": 6
643
  },
644
  "telephone": {
645
- "distance": "0.88 meters",
646
  "closeness rank": 7
647
  },
648
  "whiteboard": {
@@ -650,11 +650,11 @@
650
  "closeness rank": 8
651
  },
652
  "ceiling light": {
653
- "distance": "2.01 meters",
654
  "closeness rank": 9
655
  },
656
  "trash can": {
657
- "distance": "3.02 meters",
658
  "closeness rank": 10
659
  },
660
  "door": {
@@ -662,7 +662,7 @@
662
  "closeness rank": 11
663
  },
664
  "coat hanger": {
665
- "distance": "4.1 meters",
666
  "closeness rank": 12
667
  }
668
  },
@@ -672,7 +672,7 @@
672
  "closeness rank": 1
673
  },
674
  "monitor": {
675
- "distance": "0.63 meters",
676
  "closeness rank": 2
677
  },
678
  "trash can": {
@@ -684,7 +684,7 @@
684
  "closeness rank": 4
685
  },
686
  "chair": {
687
- "distance": "1.8 meters",
688
  "closeness rank": 5
689
  },
690
  "computer tower": {
@@ -718,7 +718,7 @@
718
  },
719
  "ceiling light": {
720
  "monitor": {
721
- "distance": "0.59 meters",
722
  "closeness rank": 1
723
  },
724
  "whiteboard": {
@@ -726,7 +726,7 @@
726
  "closeness rank": 2
727
  },
728
  "coat hanger": {
729
- "distance": "1.09 meters",
730
  "closeness rank": 3
731
  },
732
  "door": {
@@ -734,61 +734,61 @@
734
  "closeness rank": 4
735
  },
736
  "chair": {
737
- "distance": "1.74 meters",
738
  "closeness rank": 5
739
  },
740
  "telephone": {
741
- "distance": "2.0 meters",
742
  "closeness rank": 6
743
  },
744
  "headphones": {
745
- "distance": "2.01 meters",
746
  "closeness rank": 7
747
  },
748
  "computer mouse": {
749
- "distance": "2.02 meters",
750
  "closeness rank": 8
751
  },
752
  "keyboard": {
753
- "distance": "2.05 meters",
754
  "closeness rank": 9
755
  },
756
  "computer tower": {
757
- "distance": "2.35 meters",
758
  "closeness rank": 10
759
  },
760
  "heater": {
761
- "distance": "2.4 meters",
762
  "closeness rank": 11
763
  },
764
  "trash can": {
765
- "distance": "2.48 meters",
766
  "closeness rank": 12
767
  }
768
  },
769
  "chair": {
770
  "computer tower": {
771
- "distance": "0.0 meters",
772
  "closeness rank": 1
773
  },
774
  "headphones": {
775
- "distance": "0.06 meters",
776
  "closeness rank": 2
777
  },
778
  "whiteboard": {
779
- "distance": "0.18 meters",
780
  "closeness rank": 3
781
  },
782
  "keyboard": {
783
- "distance": "0.22 meters",
784
  "closeness rank": 4
785
  },
786
  "monitor": {
787
- "distance": "0.23 meters",
788
  "closeness rank": 5
789
  },
790
  "computer mouse": {
791
- "distance": "0.24 meters",
792
  "closeness rank": 6
793
  },
794
  "heater": {
@@ -796,29 +796,29 @@
796
  "closeness rank": 7
797
  },
798
  "trash can": {
799
- "distance": "0.45 meters",
800
  "closeness rank": 8
801
  },
802
  "telephone": {
803
- "distance": "0.89 meters",
804
  "closeness rank": 9
805
  },
806
  "coat hanger": {
807
- "distance": "1.59 meters",
808
  "closeness rank": 10
809
  },
810
  "ceiling light": {
811
- "distance": "1.74 meters",
812
  "closeness rank": 11
813
  },
814
  "door": {
815
- "distance": "1.8 meters",
816
  "closeness rank": 12
817
  }
818
  },
819
  "whiteboard": {
820
  "chair": {
821
- "distance": "0.18 meters",
822
  "closeness rank": 1
823
  },
824
  "ceiling light": {
@@ -826,11 +826,11 @@
826
  "closeness rank": 2
827
  },
828
  "heater": {
829
- "distance": "0.79 meters",
830
  "closeness rank": 3
831
  },
832
  "computer tower": {
833
- "distance": "0.87 meters",
834
  "closeness rank": 4
835
  },
836
  "headphones": {
@@ -880,19 +880,19 @@
880
  "closeness rank": 3
881
  },
882
  "chair": {
883
- "distance": "0.22 meters",
884
  "closeness rank": 4
885
  },
886
  "computer tower": {
887
- "distance": "0.27 meters",
888
  "closeness rank": 5
889
  },
890
  "heater": {
891
- "distance": "0.61 meters",
892
  "closeness rank": 6
893
  },
894
  "telephone": {
895
- "distance": "0.85 meters",
896
  "closeness rank": 7
897
  },
898
  "whiteboard": {
@@ -900,15 +900,15 @@
900
  "closeness rank": 8
901
  },
902
  "trash can": {
903
- "distance": "2.04 meters",
904
  "closeness rank": 9
905
  },
906
  "ceiling light": {
907
- "distance": "2.05 meters",
908
  "closeness rank": 10
909
  },
910
  "coat hanger": {
911
- "distance": "3.25 meters",
912
  "closeness rank": 11
913
  },
914
  "door": {
@@ -922,15 +922,15 @@
922
  "closeness rank": 1
923
  },
924
  "monitor": {
925
- "distance": "0.15 meters",
926
  "closeness rank": 2
927
  },
928
  "chair": {
929
- "distance": "0.24 meters",
930
  "closeness rank": 3
931
  },
932
  "computer tower": {
933
- "distance": "0.32 meters",
934
  "closeness rank": 4
935
  },
936
  "headphones": {
@@ -938,11 +938,11 @@
938
  "closeness rank": 5
939
  },
940
  "telephone": {
941
- "distance": "0.69 meters",
942
  "closeness rank": 6
943
  },
944
  "heater": {
945
- "distance": "0.75 meters",
946
  "closeness rank": 7
947
  },
948
  "whiteboard": {
@@ -950,11 +950,11 @@
950
  "closeness rank": 8
951
  },
952
  "ceiling light": {
953
- "distance": "2.02 meters",
954
  "closeness rank": 9
955
  },
956
  "trash can": {
957
- "distance": "2.37 meters",
958
  "closeness rank": 10
959
  },
960
  "door": {
@@ -962,7 +962,7 @@
962
  "closeness rank": 11
963
  },
964
  "coat hanger": {
965
- "distance": "3.6 meters",
966
  "closeness rank": 12
967
  }
968
  },
@@ -972,7 +972,7 @@
972
  "closeness rank": 1
973
  },
974
  "ceiling light": {
975
- "distance": "1.09 meters",
976
  "closeness rank": 2
977
  },
978
  "trash can": {
@@ -980,11 +980,11 @@
980
  "closeness rank": 3
981
  },
982
  "chair": {
983
- "distance": "1.59 meters",
984
  "closeness rank": 4
985
  },
986
  "monitor": {
987
- "distance": "1.92 meters",
988
  "closeness rank": 5
989
  },
990
  "computer tower": {
@@ -992,11 +992,11 @@
992
  "closeness rank": 6
993
  },
994
  "keyboard": {
995
- "distance": "3.25 meters",
996
  "closeness rank": 7
997
  },
998
  "computer mouse": {
999
- "distance": "3.6 meters",
1000
  "closeness rank": 8
1001
  },
1002
  "whiteboard": {
@@ -1004,7 +1004,7 @@
1004
  "closeness rank": 9
1005
  },
1006
  "headphones": {
1007
- "distance": "4.1 meters",
1008
  "closeness rank": 10
1009
  },
1010
  "heater": {
@@ -1012,24 +1012,10 @@
1012
  "closeness rank": 11
1013
  },
1014
  "telephone": {
1015
- "distance": "4.28 meters",
1016
  "closeness rank": 12
1017
  }
1018
  }
1019
  },
1020
- "appearance order": [
1021
- "trash can",
1022
- "heater",
1023
- "computer tower",
1024
- "telephone",
1025
- "monitor",
1026
- "headphones",
1027
- "door",
1028
- "ceiling light",
1029
- "chair",
1030
- "whiteboard",
1031
- "keyboard",
1032
- "computer mouse",
1033
- "coat hanger"
1034
- ]
1035
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
368
  "closest classes distance meters from": {
369
  "trash can": {
370
  "chair": {
371
+ "distance": "1.61 meters",
372
  "closeness rank": 1
373
  },
374
  "door": {
 
376
  "closeness rank": 2
377
  },
378
  "computer tower": {
379
+ "distance": "1.59 meters",
380
  "closeness rank": 3
381
  },
382
  "coat hanger": {
 
384
  "closeness rank": 4
385
  },
386
  "monitor": {
387
+ "distance": "3.04 meters",
388
  "closeness rank": 5
389
  },
390
  "keyboard": {
391
+ "distance": "2.96 meters",
392
  "closeness rank": 6
393
  },
394
  "computer mouse": {
395
+ "distance": "2.88 meters",
396
  "closeness rank": 7
397
  },
398
  "ceiling light": {
399
+ "distance": "2.93 meters",
400
  "closeness rank": 8
401
  },
402
  "heater": {
 
404
  "closeness rank": 9
405
  },
406
  "headphones": {
407
+ "distance": "3.32 meters",
408
  "closeness rank": 10
409
  },
410
  "telephone": {
411
+ "distance": "3.5 meters",
412
  "closeness rank": 11
413
  },
414
  "whiteboard": {
 
418
  },
419
  "heater": {
420
  "computer tower": {
421
+ "distance": "1.06 meters",
422
  "closeness rank": 1
423
  },
424
  "telephone": {
 
426
  "closeness rank": 2
427
  },
428
  "monitor": {
429
+ "distance": "0.56 meters",
430
  "closeness rank": 3
431
  },
432
  "chair": {
 
434
  "closeness rank": 4
435
  },
436
  "headphones": {
437
+ "distance": "1.14 meters",
438
  "closeness rank": 5
439
  },
440
  "keyboard": {
441
+ "distance": "0.99 meters",
442
  "closeness rank": 6
443
  },
444
  "computer mouse": {
445
+ "distance": "1.35 meters",
446
  "closeness rank": 7
447
  },
448
  "whiteboard": {
449
+ "distance": "1.88 meters",
450
  "closeness rank": 8
451
  },
452
  "ceiling light": {
453
+ "distance": "3.48 meters",
454
  "closeness rank": 9
455
  },
456
  "trash can": {
 
468
  },
469
  "computer tower": {
470
  "chair": {
471
+ "distance": "0.26 meters",
472
  "closeness rank": 1
473
  },
474
  "heater": {
475
+ "distance": "1.06 meters",
476
  "closeness rank": 2
477
  },
478
  "headphones": {
479
+ "distance": "1.4 meters",
480
  "closeness rank": 3
481
  },
482
  "monitor": {
483
+ "distance": "1.16 meters",
484
  "closeness rank": 4
485
  },
486
  "keyboard": {
487
+ "distance": "1.05 meters",
488
  "closeness rank": 5
489
  },
490
  "computer mouse": {
491
+ "distance": "1.04 meters",
492
  "closeness rank": 6
493
  },
494
  "telephone": {
495
+ "distance": "1.66 meters",
496
  "closeness rank": 7
497
  },
498
  "whiteboard": {
499
+ "distance": "1.39 meters",
500
  "closeness rank": 8
501
  },
502
  "trash can": {
503
+ "distance": "1.59 meters",
504
  "closeness rank": 9
505
  },
506
  "ceiling light": {
507
+ "distance": "2.62 meters",
508
  "closeness rank": 10
509
  },
510
  "door": {
 
526
  "closeness rank": 2
527
  },
528
  "computer tower": {
529
+ "distance": "1.66 meters",
530
  "closeness rank": 3
531
  },
532
  "computer mouse": {
533
+ "distance": "1.33 meters",
534
  "closeness rank": 4
535
  },
536
  "keyboard": {
537
+ "distance": "0.88 meters",
538
  "closeness rank": 5
539
  },
540
  "headphones": {
541
+ "distance": "0.95 meters",
542
  "closeness rank": 6
543
  },
544
  "chair": {
545
+ "distance": "0.9 meters",
546
  "closeness rank": 7
547
  },
548
  "ceiling light": {
549
+ "distance": "3.46 meters",
550
  "closeness rank": 8
551
  },
552
  "whiteboard": {
 
554
  "closeness rank": 9
555
  },
556
  "trash can": {
557
+ "distance": "3.5 meters",
558
  "closeness rank": 10
559
  },
560
  "coat hanger": {
561
+ "distance": "4.33 meters",
562
  "closeness rank": 11
563
  },
564
  "door": {
 
572
  "closeness rank": 1
573
  },
574
  "computer mouse": {
575
+ "distance": "0.43 meters",
576
  "closeness rank": 2
577
  },
578
  "chair": {
579
+ "distance": "0.77 meters",
580
  "closeness rank": 3
581
  },
582
  "headphones": {
 
584
  "closeness rank": 4
585
  },
586
  "computer tower": {
587
+ "distance": "1.16 meters",
588
  "closeness rank": 5
589
  },
590
  "heater": {
591
+ "distance": "0.56 meters",
592
  "closeness rank": 6
593
  },
594
  "telephone": {
 
596
  "closeness rank": 7
597
  },
598
  "ceiling light": {
599
+ "distance": "2.58 meters",
600
  "closeness rank": 8
601
  },
602
  "door": {
603
+ "distance": "2.94 meters",
604
  "closeness rank": 9
605
  },
606
  "whiteboard": {
 
608
  "closeness rank": 10
609
  },
610
  "trash can": {
611
+ "distance": "3.04 meters",
612
  "closeness rank": 11
613
  },
614
  "coat hanger": {
615
+ "distance": "3.76 meters",
616
  "closeness rank": 12
617
  }
618
  },
 
622
  "closeness rank": 1
623
  },
624
  "chair": {
625
+ "distance": "1.31 meters",
626
  "closeness rank": 2
627
  },
628
  "computer tower": {
629
+ "distance": "1.4 meters",
630
  "closeness rank": 3
631
  },
632
  "monitor": {
 
638
  "closeness rank": 5
639
  },
640
  "heater": {
641
+ "distance": "1.14 meters",
642
  "closeness rank": 6
643
  },
644
  "telephone": {
645
+ "distance": "0.95 meters",
646
  "closeness rank": 7
647
  },
648
  "whiteboard": {
 
650
  "closeness rank": 8
651
  },
652
  "ceiling light": {
653
+ "distance": "2.73 meters",
654
  "closeness rank": 9
655
  },
656
  "trash can": {
657
+ "distance": "3.32 meters",
658
  "closeness rank": 10
659
  },
660
  "door": {
 
662
  "closeness rank": 11
663
  },
664
  "coat hanger": {
665
+ "distance": "4.13 meters",
666
  "closeness rank": 12
667
  }
668
  },
 
672
  "closeness rank": 1
673
  },
674
  "monitor": {
675
+ "distance": "2.94 meters",
676
  "closeness rank": 2
677
  },
678
  "trash can": {
 
684
  "closeness rank": 4
685
  },
686
  "chair": {
687
+ "distance": "1.97 meters",
688
  "closeness rank": 5
689
  },
690
  "computer tower": {
 
718
  },
719
  "ceiling light": {
720
  "monitor": {
721
+ "distance": "2.58 meters",
722
  "closeness rank": 1
723
  },
724
  "whiteboard": {
 
726
  "closeness rank": 2
727
  },
728
  "coat hanger": {
729
+ "distance": "2.18 meters",
730
  "closeness rank": 3
731
  },
732
  "door": {
 
734
  "closeness rank": 4
735
  },
736
  "chair": {
737
+ "distance": "2.76 meters",
738
  "closeness rank": 5
739
  },
740
  "telephone": {
741
+ "distance": "3.46 meters",
742
  "closeness rank": 6
743
  },
744
  "headphones": {
745
+ "distance": "2.73 meters",
746
  "closeness rank": 7
747
  },
748
  "computer mouse": {
749
+ "distance": "2.4 meters",
750
  "closeness rank": 8
751
  },
752
  "keyboard": {
753
+ "distance": "2.51 meters",
754
  "closeness rank": 9
755
  },
756
  "computer tower": {
757
+ "distance": "2.62 meters",
758
  "closeness rank": 10
759
  },
760
  "heater": {
761
+ "distance": "3.48 meters",
762
  "closeness rank": 11
763
  },
764
  "trash can": {
765
+ "distance": "2.93 meters",
766
  "closeness rank": 12
767
  }
768
  },
769
  "chair": {
770
  "computer tower": {
771
+ "distance": "0.26 meters",
772
  "closeness rank": 1
773
  },
774
  "headphones": {
775
+ "distance": "1.31 meters",
776
  "closeness rank": 2
777
  },
778
  "whiteboard": {
779
+ "distance": "1.64 meters",
780
  "closeness rank": 3
781
  },
782
  "keyboard": {
783
+ "distance": "1.0 meters",
784
  "closeness rank": 4
785
  },
786
  "monitor": {
787
+ "distance": "0.77 meters",
788
  "closeness rank": 5
789
  },
790
  "computer mouse": {
791
+ "distance": "1.16 meters",
792
  "closeness rank": 6
793
  },
794
  "heater": {
 
796
  "closeness rank": 7
797
  },
798
  "trash can": {
799
+ "distance": "1.61 meters",
800
  "closeness rank": 8
801
  },
802
  "telephone": {
803
+ "distance": "0.9 meters",
804
  "closeness rank": 9
805
  },
806
  "coat hanger": {
807
+ "distance": "2.65 meters",
808
  "closeness rank": 10
809
  },
810
  "ceiling light": {
811
+ "distance": "2.76 meters",
812
  "closeness rank": 11
813
  },
814
  "door": {
815
+ "distance": "1.97 meters",
816
  "closeness rank": 12
817
  }
818
  },
819
  "whiteboard": {
820
  "chair": {
821
+ "distance": "1.64 meters",
822
  "closeness rank": 1
823
  },
824
  "ceiling light": {
 
826
  "closeness rank": 2
827
  },
828
  "heater": {
829
+ "distance": "1.88 meters",
830
  "closeness rank": 3
831
  },
832
  "computer tower": {
833
+ "distance": "1.39 meters",
834
  "closeness rank": 4
835
  },
836
  "headphones": {
 
880
  "closeness rank": 3
881
  },
882
  "chair": {
883
+ "distance": "1.0 meters",
884
  "closeness rank": 4
885
  },
886
  "computer tower": {
887
+ "distance": "1.05 meters",
888
  "closeness rank": 5
889
  },
890
  "heater": {
891
+ "distance": "0.99 meters",
892
  "closeness rank": 6
893
  },
894
  "telephone": {
895
+ "distance": "0.88 meters",
896
  "closeness rank": 7
897
  },
898
  "whiteboard": {
 
900
  "closeness rank": 8
901
  },
902
  "trash can": {
903
+ "distance": "2.96 meters",
904
  "closeness rank": 9
905
  },
906
  "ceiling light": {
907
+ "distance": "2.51 meters",
908
  "closeness rank": 10
909
  },
910
  "coat hanger": {
911
+ "distance": "3.78 meters",
912
  "closeness rank": 11
913
  },
914
  "door": {
 
922
  "closeness rank": 1
923
  },
924
  "monitor": {
925
+ "distance": "0.43 meters",
926
  "closeness rank": 2
927
  },
928
  "chair": {
929
+ "distance": "1.16 meters",
930
  "closeness rank": 3
931
  },
932
  "computer tower": {
933
+ "distance": "1.04 meters",
934
  "closeness rank": 4
935
  },
936
  "headphones": {
 
938
  "closeness rank": 5
939
  },
940
  "telephone": {
941
+ "distance": "1.33 meters",
942
  "closeness rank": 6
943
  },
944
  "heater": {
945
+ "distance": "1.35 meters",
946
  "closeness rank": 7
947
  },
948
  "whiteboard": {
 
950
  "closeness rank": 8
951
  },
952
  "ceiling light": {
953
+ "distance": "2.4 meters",
954
  "closeness rank": 9
955
  },
956
  "trash can": {
957
+ "distance": "2.88 meters",
958
  "closeness rank": 10
959
  },
960
  "door": {
 
962
  "closeness rank": 11
963
  },
964
  "coat hanger": {
965
+ "distance": "3.67 meters",
966
  "closeness rank": 12
967
  }
968
  },
 
972
  "closeness rank": 1
973
  },
974
  "ceiling light": {
975
+ "distance": "2.18 meters",
976
  "closeness rank": 2
977
  },
978
  "trash can": {
 
980
  "closeness rank": 3
981
  },
982
  "chair": {
983
+ "distance": "2.65 meters",
984
  "closeness rank": 4
985
  },
986
  "monitor": {
987
+ "distance": "3.76 meters",
988
  "closeness rank": 5
989
  },
990
  "computer tower": {
 
992
  "closeness rank": 6
993
  },
994
  "keyboard": {
995
+ "distance": "3.78 meters",
996
  "closeness rank": 7
997
  },
998
  "computer mouse": {
999
+ "distance": "3.67 meters",
1000
  "closeness rank": 8
1001
  },
1002
  "whiteboard": {
 
1004
  "closeness rank": 9
1005
  },
1006
  "headphones": {
1007
+ "distance": "4.13 meters",
1008
  "closeness rank": 10
1009
  },
1010
  "heater": {
 
1012
  "closeness rank": 11
1013
  },
1014
  "telephone": {
1015
+ "distance": "4.33 meters",
1016
  "closeness rank": 12
1017
  }
1018
  }
1019
  },
1020
+ "appearance order": ["trash can", "heater", "computer tower", "telephone", "monitor", "headphones", "door", "ceiling light", "chair", "whiteboard", "keyboard", "computer mouse", "coat hanger"]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1021
  }
data/spatial codes/ground truth/explicit/d755b3d9d8.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -366,39 +366,39 @@
366
  "closeness rank": 1
367
  },
368
  "monitor": {
369
- "distance": "0.0 meters",
370
  "closeness rank": 2
371
  },
372
  "table": {
373
- "distance": "0.0 meters",
374
  "closeness rank": 3
375
  },
376
  "laptop": {
377
- "distance": "0.04 meters",
378
  "closeness rank": 4
379
  },
380
  "plant": {
381
- "distance": "0.08 meters",
382
  "closeness rank": 5
383
  },
384
  "computer mouse": {
385
- "distance": "0.1 meters",
386
  "closeness rank": 6
387
  },
388
  "shoes": {
389
- "distance": "0.23 meters",
390
  "closeness rank": 7
391
  },
392
  "cup": {
393
- "distance": "0.24 meters",
394
  "closeness rank": 8
395
  },
396
  "heater": {
397
- "distance": "0.32 meters",
398
  "closeness rank": 9
399
  },
400
  "telephone": {
401
- "distance": "0.43 meters",
402
  "closeness rank": 10
403
  },
404
  "whiteboard": {
@@ -406,7 +406,7 @@
406
  "closeness rank": 11
407
  },
408
  "printer": {
409
- "distance": "1.15 meters",
410
  "closeness rank": 12
411
  },
412
  "ceiling light": {
@@ -432,7 +432,7 @@
432
  "closeness rank": 3
433
  },
434
  "table": {
435
- "distance": "1.62 meters",
436
  "closeness rank": 4
437
  },
438
  "chair": {
@@ -444,7 +444,7 @@
444
  "closeness rank": 6
445
  },
446
  "monitor": {
447
- "distance": "2.18 meters",
448
  "closeness rank": 7
449
  },
450
  "computer mouse": {
@@ -452,7 +452,7 @@
452
  "closeness rank": 8
453
  },
454
  "plant": {
455
- "distance": "2.69 meters",
456
  "closeness rank": 9
457
  },
458
  "cup": {
@@ -478,11 +478,11 @@
478
  },
479
  "table": {
480
  "chair": {
481
- "distance": "0.0 meters",
482
  "closeness rank": 1
483
  },
484
  "computer mouse": {
485
- "distance": "0.0 meters",
486
  "closeness rank": 2
487
  },
488
  "cup": {
@@ -490,11 +490,11 @@
490
  "closeness rank": 3
491
  },
492
  "keyboard": {
493
- "distance": "0.0 meters",
494
  "closeness rank": 4
495
  },
496
  "laptop": {
497
- "distance": "0.0 meters",
498
  "closeness rank": 5
499
  },
500
  "monitor": {
@@ -502,7 +502,7 @@
502
  "closeness rank": 6
503
  },
504
  "plant": {
505
- "distance": "0.0 meters",
506
  "closeness rank": 7
507
  },
508
  "heater": {
@@ -510,23 +510,23 @@
510
  "closeness rank": 8
511
  },
512
  "telephone": {
513
- "distance": "0.15 meters",
514
  "closeness rank": 9
515
  },
516
  "whiteboard": {
517
- "distance": "0.27 meters",
518
  "closeness rank": 10
519
  },
520
  "shoes": {
521
- "distance": "0.47 meters",
522
  "closeness rank": 11
523
  },
524
  "printer": {
525
- "distance": "1.11 meters",
526
  "closeness rank": 12
527
  },
528
  "door": {
529
- "distance": "1.62 meters",
530
  "closeness rank": 13
531
  },
532
  "ceiling light": {
@@ -536,7 +536,7 @@
536
  },
537
  "ceiling light": {
538
  "plant": {
539
- "distance": "0.44 meters",
540
  "closeness rank": 1
541
  },
542
  "whiteboard": {
@@ -544,7 +544,7 @@
544
  "closeness rank": 2
545
  },
546
  "monitor": {
547
- "distance": "1.19 meters",
548
  "closeness rank": 3
549
  },
550
  "chair": {
@@ -560,7 +560,7 @@
560
  "closeness rank": 6
561
  },
562
  "telephone": {
563
- "distance": "1.51 meters",
564
  "closeness rank": 7
565
  },
566
  "table": {
@@ -594,15 +594,15 @@
594
  },
595
  "monitor": {
596
  "chair": {
597
- "distance": "0.0 meters",
598
  "closeness rank": 1
599
  },
600
  "keyboard": {
601
- "distance": "0.0 meters",
602
  "closeness rank": 2
603
  },
604
  "plant": {
605
- "distance": "0.0 meters",
606
  "closeness rank": 3
607
  },
608
  "table": {
@@ -610,23 +610,23 @@
610
  "closeness rank": 4
611
  },
612
  "computer mouse": {
613
- "distance": "0.05 meters",
614
  "closeness rank": 5
615
  },
616
  "whiteboard": {
617
- "distance": "0.13 meters",
618
  "closeness rank": 6
619
  },
620
  "laptop": {
621
- "distance": "0.14 meters",
622
  "closeness rank": 7
623
  },
624
  "cup": {
625
- "distance": "0.15 meters",
626
  "closeness rank": 8
627
  },
628
  "telephone": {
629
- "distance": "0.59 meters",
630
  "closeness rank": 9
631
  },
632
  "heater": {
@@ -634,49 +634,49 @@
634
  "closeness rank": 10
635
  },
636
  "ceiling light": {
637
- "distance": "1.19 meters",
638
  "closeness rank": 11
639
  },
640
  "shoes": {
641
- "distance": "1.19 meters",
642
  "closeness rank": 12
643
  },
644
  "printer": {
645
- "distance": "1.45 meters",
646
  "closeness rank": 13
647
  },
648
  "door": {
649
- "distance": "2.18 meters",
650
  "closeness rank": 14
651
  }
652
  },
653
  "computer mouse": {
654
  "table": {
655
- "distance": "0.0 meters",
656
  "closeness rank": 1
657
  },
658
  "laptop": {
659
- "distance": "0.03 meters",
660
  "closeness rank": 2
661
  },
662
  "keyboard": {
663
- "distance": "0.04 meters",
664
  "closeness rank": 3
665
  },
666
  "cup": {
667
- "distance": "0.04 meters",
668
  "closeness rank": 4
669
  },
670
  "monitor": {
671
- "distance": "0.05 meters",
672
  "closeness rank": 5
673
  },
674
  "chair": {
675
- "distance": "0.1 meters",
676
  "closeness rank": 6
677
  },
678
  "plant": {
679
- "distance": "0.14 meters",
680
  "closeness rank": 7
681
  },
682
  "heater": {
@@ -684,7 +684,7 @@
684
  "closeness rank": 8
685
  },
686
  "whiteboard": {
687
- "distance": "0.81 meters",
688
  "closeness rank": 9
689
  },
690
  "telephone": {
@@ -700,7 +700,7 @@
700
  "closeness rank": 12
701
  },
702
  "printer": {
703
- "distance": "1.99 meters",
704
  "closeness rank": 13
705
  },
706
  "door": {
@@ -714,15 +714,15 @@
714
  "closeness rank": 1
715
  },
716
  "computer mouse": {
717
- "distance": "0.04 meters",
718
  "closeness rank": 2
719
  },
720
  "monitor": {
721
- "distance": "0.15 meters",
722
  "closeness rank": 3
723
  },
724
  "chair": {
725
- "distance": "0.24 meters",
726
  "closeness rank": 4
727
  },
728
  "heater": {
@@ -730,11 +730,11 @@
730
  "closeness rank": 5
731
  },
732
  "plant": {
733
- "distance": "1.11 meters",
734
  "closeness rank": 6
735
  },
736
  "telephone": {
737
- "distance": "1.12 meters",
738
  "closeness rank": 7
739
  },
740
  "shoes": {
@@ -750,7 +750,7 @@
750
  "closeness rank": 10
751
  },
752
  "keyboard": {
753
- "distance": "2.4 meters",
754
  "closeness rank": 11
755
  },
756
  "whiteboard": {
@@ -762,13 +762,13 @@
762
  "closeness rank": 13
763
  },
764
  "printer": {
765
- "distance": "3.36 meters",
766
  "closeness rank": 14
767
  }
768
  },
769
  "printer": {
770
  "whiteboard": {
771
- "distance": "0.05 meters",
772
  "closeness rank": 1
773
  },
774
  "door": {
@@ -776,11 +776,11 @@
776
  "closeness rank": 2
777
  },
778
  "table": {
779
- "distance": "1.11 meters",
780
  "closeness rank": 3
781
  },
782
  "chair": {
783
- "distance": "1.15 meters",
784
  "closeness rank": 4
785
  },
786
  "ceiling light": {
@@ -788,27 +788,27 @@
788
  "closeness rank": 5
789
  },
790
  "monitor": {
791
- "distance": "1.45 meters",
792
  "closeness rank": 6
793
  },
794
  "keyboard": {
795
- "distance": "1.54 meters",
796
  "closeness rank": 7
797
  },
798
  "plant": {
799
- "distance": "1.93 meters",
800
  "closeness rank": 8
801
  },
802
  "computer mouse": {
803
- "distance": "1.99 meters",
804
  "closeness rank": 9
805
  },
806
  "laptop": {
807
- "distance": "3.12 meters",
808
  "closeness rank": 10
809
  },
810
  "cup": {
811
- "distance": "3.36 meters",
812
  "closeness rank": 11
813
  },
814
  "heater": {
@@ -816,11 +816,11 @@
816
  "closeness rank": 12
817
  },
818
  "shoes": {
819
- "distance": "3.93 meters",
820
  "closeness rank": 13
821
  },
822
  "telephone": {
823
- "distance": "4.27 meters",
824
  "closeness rank": 14
825
  }
826
  },
@@ -842,7 +842,7 @@
842
  "closeness rank": 4
843
  },
844
  "chair": {
845
- "distance": "0.32 meters",
846
  "closeness rank": 5
847
  },
848
  "laptop": {
@@ -858,7 +858,7 @@
858
  "closeness rank": 8
859
  },
860
  "keyboard": {
861
- "distance": "0.87 meters",
862
  "closeness rank": 9
863
  },
864
  "cup": {
@@ -888,15 +888,15 @@
888
  "closeness rank": 1
889
  },
890
  "chair": {
891
- "distance": "0.23 meters",
892
  "closeness rank": 2
893
  },
894
  "table": {
895
- "distance": "0.47 meters",
896
  "closeness rank": 3
897
  },
898
  "plant": {
899
- "distance": "0.7 meters",
900
  "closeness rank": 4
901
  },
902
  "telephone": {
@@ -904,11 +904,11 @@
904
  "closeness rank": 5
905
  },
906
  "laptop": {
907
- "distance": "1.08 meters",
908
  "closeness rank": 6
909
  },
910
  "monitor": {
911
- "distance": "1.19 meters",
912
  "closeness rank": 7
913
  },
914
  "computer mouse": {
@@ -920,7 +920,7 @@
920
  "closeness rank": 9
921
  },
922
  "keyboard": {
923
- "distance": "1.64 meters",
924
  "closeness rank": 10
925
  },
926
  "ceiling light": {
@@ -928,11 +928,11 @@
928
  "closeness rank": 11
929
  },
930
  "whiteboard": {
931
- "distance": "3.1 meters",
932
  "closeness rank": 12
933
  },
934
  "printer": {
935
- "distance": "3.93 meters",
936
  "closeness rank": 13
937
  },
938
  "door": {
@@ -942,7 +942,7 @@
942
  },
943
  "telephone": {
944
  "table": {
945
- "distance": "0.15 meters",
946
  "closeness rank": 1
947
  },
948
  "heater": {
@@ -950,15 +950,15 @@
950
  "closeness rank": 2
951
  },
952
  "plant": {
953
- "distance": "0.39 meters",
954
  "closeness rank": 3
955
  },
956
  "chair": {
957
- "distance": "0.43 meters",
958
  "closeness rank": 4
959
  },
960
  "monitor": {
961
- "distance": "0.59 meters",
962
  "closeness rank": 5
963
  },
964
  "shoes": {
@@ -966,7 +966,7 @@
966
  "closeness rank": 6
967
  },
968
  "cup": {
969
- "distance": "1.12 meters",
970
  "closeness rank": 7
971
  },
972
  "computer mouse": {
@@ -974,15 +974,15 @@
974
  "closeness rank": 8
975
  },
976
  "ceiling light": {
977
- "distance": "1.51 meters",
978
  "closeness rank": 9
979
  },
980
  "laptop": {
981
- "distance": "1.67 meters",
982
  "closeness rank": 10
983
  },
984
  "keyboard": {
985
- "distance": "2.26 meters",
986
  "closeness rank": 11
987
  },
988
  "whiteboard": {
@@ -990,7 +990,7 @@
990
  "closeness rank": 12
991
  },
992
  "printer": {
993
- "distance": "4.27 meters",
994
  "closeness rank": 13
995
  },
996
  "door": {
@@ -1000,23 +1000,23 @@
1000
  },
1001
  "plant": {
1002
  "monitor": {
1003
- "distance": "0.0 meters",
1004
  "closeness rank": 1
1005
  },
1006
  "table": {
1007
- "distance": "0.0 meters",
1008
  "closeness rank": 2
1009
  },
1010
  "keyboard": {
1011
- "distance": "0.07 meters",
1012
  "closeness rank": 3
1013
  },
1014
  "chair": {
1015
- "distance": "0.08 meters",
1016
  "closeness rank": 4
1017
  },
1018
  "computer mouse": {
1019
- "distance": "0.14 meters",
1020
  "closeness rank": 5
1021
  },
1022
  "heater": {
@@ -1024,15 +1024,15 @@
1024
  "closeness rank": 6
1025
  },
1026
  "telephone": {
1027
- "distance": "0.39 meters",
1028
  "closeness rank": 7
1029
  },
1030
  "ceiling light": {
1031
- "distance": "0.44 meters",
1032
  "closeness rank": 8
1033
  },
1034
  "whiteboard": {
1035
- "distance": "0.61 meters",
1036
  "closeness rank": 9
1037
  },
1038
  "laptop": {
@@ -1040,37 +1040,37 @@
1040
  "closeness rank": 10
1041
  },
1042
  "shoes": {
1043
- "distance": "0.7 meters",
1044
  "closeness rank": 11
1045
  },
1046
  "cup": {
1047
- "distance": "1.11 meters",
1048
  "closeness rank": 12
1049
  },
1050
  "printer": {
1051
- "distance": "1.93 meters",
1052
  "closeness rank": 13
1053
  },
1054
  "door": {
1055
- "distance": "2.69 meters",
1056
  "closeness rank": 14
1057
  }
1058
  },
1059
  "whiteboard": {
1060
  "printer": {
1061
- "distance": "0.05 meters",
1062
  "closeness rank": 1
1063
  },
1064
  "monitor": {
1065
- "distance": "0.13 meters",
1066
  "closeness rank": 2
1067
  },
1068
  "table": {
1069
- "distance": "0.27 meters",
1070
  "closeness rank": 3
1071
  },
1072
  "keyboard": {
1073
- "distance": "0.37 meters",
1074
  "closeness rank": 4
1075
  },
1076
  "chair": {
@@ -1082,11 +1082,11 @@
1082
  "closeness rank": 6
1083
  },
1084
  "plant": {
1085
- "distance": "0.61 meters",
1086
  "closeness rank": 7
1087
  },
1088
  "computer mouse": {
1089
- "distance": "0.81 meters",
1090
  "closeness rank": 8
1091
  },
1092
  "door": {
@@ -1094,7 +1094,7 @@
1094
  "closeness rank": 9
1095
  },
1096
  "laptop": {
1097
- "distance": "1.88 meters",
1098
  "closeness rank": 10
1099
  },
1100
  "heater": {
@@ -1106,7 +1106,7 @@
1106
  "closeness rank": 12
1107
  },
1108
  "shoes": {
1109
- "distance": "3.1 meters",
1110
  "closeness rank": 13
1111
  },
1112
  "telephone": {
@@ -1120,39 +1120,39 @@
1120
  "closeness rank": 1
1121
  },
1122
  "monitor": {
1123
- "distance": "0.0 meters",
1124
  "closeness rank": 2
1125
  },
1126
  "table": {
1127
- "distance": "0.0 meters",
1128
  "closeness rank": 3
1129
  },
1130
  "computer mouse": {
1131
- "distance": "0.04 meters",
1132
  "closeness rank": 4
1133
  },
1134
  "plant": {
1135
- "distance": "0.07 meters",
1136
  "closeness rank": 5
1137
  },
1138
  "laptop": {
1139
- "distance": "0.17 meters",
1140
  "closeness rank": 6
1141
  },
1142
  "whiteboard": {
1143
- "distance": "0.37 meters",
1144
  "closeness rank": 7
1145
  },
1146
  "heater": {
1147
- "distance": "0.87 meters",
1148
  "closeness rank": 8
1149
  },
1150
  "printer": {
1151
- "distance": "1.54 meters",
1152
  "closeness rank": 9
1153
  },
1154
  "shoes": {
1155
- "distance": "1.64 meters",
1156
  "closeness rank": 10
1157
  },
1158
  "ceiling light": {
@@ -1164,33 +1164,33 @@
1164
  "closeness rank": 12
1165
  },
1166
  "telephone": {
1167
- "distance": "2.26 meters",
1168
  "closeness rank": 13
1169
  },
1170
  "cup": {
1171
- "distance": "2.4 meters",
1172
  "closeness rank": 14
1173
  }
1174
  },
1175
  "laptop": {
1176
  "table": {
1177
- "distance": "0.0 meters",
1178
  "closeness rank": 1
1179
  },
1180
  "computer mouse": {
1181
- "distance": "0.03 meters",
1182
  "closeness rank": 2
1183
  },
1184
  "chair": {
1185
- "distance": "0.04 meters",
1186
  "closeness rank": 3
1187
  },
1188
  "monitor": {
1189
- "distance": "0.14 meters",
1190
  "closeness rank": 4
1191
  },
1192
  "keyboard": {
1193
- "distance": "0.17 meters",
1194
  "closeness rank": 5
1195
  },
1196
  "heater": {
@@ -1202,11 +1202,11 @@
1202
  "closeness rank": 7
1203
  },
1204
  "shoes": {
1205
- "distance": "1.08 meters",
1206
  "closeness rank": 8
1207
  },
1208
  "telephone": {
1209
- "distance": "1.67 meters",
1210
  "closeness rank": 9
1211
  },
1212
  "ceiling light": {
@@ -1214,7 +1214,7 @@
1214
  "closeness rank": 10
1215
  },
1216
  "whiteboard": {
1217
- "distance": "1.88 meters",
1218
  "closeness rank": 11
1219
  },
1220
  "cup": {
@@ -1222,7 +1222,7 @@
1222
  "closeness rank": 12
1223
  },
1224
  "printer": {
1225
- "distance": "3.12 meters",
1226
  "closeness rank": 13
1227
  },
1228
  "door": {
@@ -1231,21 +1231,5 @@
1231
  }
1232
  }
1233
  },
1234
- "appearance order": [
1235
- "printer",
1236
- "table",
1237
- "heater",
1238
- "door",
1239
- "cup",
1240
- "computer mouse",
1241
- "chair",
1242
- "ceiling light",
1243
- "shoes",
1244
- "monitor",
1245
- "telephone",
1246
- "plant",
1247
- "whiteboard",
1248
- "keyboard",
1249
- "laptop"
1250
- ]
1251
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
366
  "closeness rank": 1
367
  },
368
  "monitor": {
369
+ "distance": "1.88 meters",
370
  "closeness rank": 2
371
  },
372
  "table": {
373
+ "distance": "1.47 meters",
374
  "closeness rank": 3
375
  },
376
  "laptop": {
377
+ "distance": "1.01 meters",
378
  "closeness rank": 4
379
  },
380
  "plant": {
381
+ "distance": "1.51 meters",
382
  "closeness rank": 5
383
  },
384
  "computer mouse": {
385
+ "distance": "1.47 meters",
386
  "closeness rank": 6
387
  },
388
  "shoes": {
389
+ "distance": "1.78 meters",
390
  "closeness rank": 7
391
  },
392
  "cup": {
393
+ "distance": "1.6 meters",
394
  "closeness rank": 8
395
  },
396
  "heater": {
397
+ "distance": "0.94 meters",
398
  "closeness rank": 9
399
  },
400
  "telephone": {
401
+ "distance": "2.3 meters",
402
  "closeness rank": 10
403
  },
404
  "whiteboard": {
 
406
  "closeness rank": 11
407
  },
408
  "printer": {
409
+ "distance": "1.2 meters",
410
  "closeness rank": 12
411
  },
412
  "ceiling light": {
 
432
  "closeness rank": 3
433
  },
434
  "table": {
435
+ "distance": "2.47 meters",
436
  "closeness rank": 4
437
  },
438
  "chair": {
 
444
  "closeness rank": 6
445
  },
446
  "monitor": {
447
+ "distance": "2.7 meters",
448
  "closeness rank": 7
449
  },
450
  "computer mouse": {
 
452
  "closeness rank": 8
453
  },
454
  "plant": {
455
+ "distance": "2.98 meters",
456
  "closeness rank": 9
457
  },
458
  "cup": {
 
478
  },
479
  "table": {
480
  "chair": {
481
+ "distance": "1.47 meters",
482
  "closeness rank": 1
483
  },
484
  "computer mouse": {
485
+ "distance": "0.03 meters",
486
  "closeness rank": 2
487
  },
488
  "cup": {
 
490
  "closeness rank": 3
491
  },
492
  "keyboard": {
493
+ "distance": "2.28 meters",
494
  "closeness rank": 4
495
  },
496
  "laptop": {
497
+ "distance": "1.56 meters",
498
  "closeness rank": 5
499
  },
500
  "monitor": {
 
502
  "closeness rank": 6
503
  },
504
  "plant": {
505
+ "distance": "0.79 meters",
506
  "closeness rank": 7
507
  },
508
  "heater": {
 
510
  "closeness rank": 8
511
  },
512
  "telephone": {
513
+ "distance": "0.38 meters",
514
  "closeness rank": 9
515
  },
516
  "whiteboard": {
517
+ "distance": "2.85 meters",
518
  "closeness rank": 10
519
  },
520
  "shoes": {
521
+ "distance": "0.53 meters",
522
  "closeness rank": 11
523
  },
524
  "printer": {
525
+ "distance": "3.46 meters",
526
  "closeness rank": 12
527
  },
528
  "door": {
529
+ "distance": "2.47 meters",
530
  "closeness rank": 13
531
  },
532
  "ceiling light": {
 
536
  },
537
  "ceiling light": {
538
  "plant": {
539
+ "distance": "1.24 meters",
540
  "closeness rank": 1
541
  },
542
  "whiteboard": {
 
544
  "closeness rank": 2
545
  },
546
  "monitor": {
547
+ "distance": "1.41 meters",
548
  "closeness rank": 3
549
  },
550
  "chair": {
 
560
  "closeness rank": 6
561
  },
562
  "telephone": {
563
+ "distance": "2.11 meters",
564
  "closeness rank": 7
565
  },
566
  "table": {
 
594
  },
595
  "monitor": {
596
  "chair": {
597
+ "distance": "1.88 meters",
598
  "closeness rank": 1
599
  },
600
  "keyboard": {
601
+ "distance": "2.67 meters",
602
  "closeness rank": 2
603
  },
604
  "plant": {
605
+ "distance": "0.99 meters",
606
  "closeness rank": 3
607
  },
608
  "table": {
 
610
  "closeness rank": 4
611
  },
612
  "computer mouse": {
613
+ "distance": "0.33 meters",
614
  "closeness rank": 5
615
  },
616
  "whiteboard": {
617
+ "distance": "3.11 meters",
618
  "closeness rank": 6
619
  },
620
  "laptop": {
621
+ "distance": "2.01 meters",
622
  "closeness rank": 7
623
  },
624
  "cup": {
625
+ "distance": "0.17 meters",
626
  "closeness rank": 8
627
  },
628
  "telephone": {
629
+ "distance": "0.66 meters",
630
  "closeness rank": 9
631
  },
632
  "heater": {
 
634
  "closeness rank": 10
635
  },
636
  "ceiling light": {
637
+ "distance": "1.41 meters",
638
  "closeness rank": 11
639
  },
640
  "shoes": {
641
+ "distance": "1.23 meters",
642
  "closeness rank": 12
643
  },
644
  "printer": {
645
+ "distance": "3.72 meters",
646
  "closeness rank": 13
647
  },
648
  "door": {
649
+ "distance": "2.7 meters",
650
  "closeness rank": 14
651
  }
652
  },
653
  "computer mouse": {
654
  "table": {
655
+ "distance": "0.03 meters",
656
  "closeness rank": 1
657
  },
658
  "laptop": {
659
+ "distance": "1.85 meters",
660
  "closeness rank": 2
661
  },
662
  "keyboard": {
663
+ "distance": "2.31 meters",
664
  "closeness rank": 3
665
  },
666
  "cup": {
667
+ "distance": "0.06 meters",
668
  "closeness rank": 4
669
  },
670
  "monitor": {
671
+ "distance": "0.33 meters",
672
  "closeness rank": 5
673
  },
674
  "chair": {
675
+ "distance": "1.47 meters",
676
  "closeness rank": 6
677
  },
678
  "plant": {
679
+ "distance": "1.21 meters",
680
  "closeness rank": 7
681
  },
682
  "heater": {
 
684
  "closeness rank": 8
685
  },
686
  "whiteboard": {
687
+ "distance": "2.78 meters",
688
  "closeness rank": 9
689
  },
690
  "telephone": {
 
700
  "closeness rank": 12
701
  },
702
  "printer": {
703
+ "distance": "3.37 meters",
704
  "closeness rank": 13
705
  },
706
  "door": {
 
714
  "closeness rank": 1
715
  },
716
  "computer mouse": {
717
+ "distance": "0.06 meters",
718
  "closeness rank": 2
719
  },
720
  "monitor": {
721
+ "distance": "0.17 meters",
722
  "closeness rank": 3
723
  },
724
  "chair": {
725
+ "distance": "1.6 meters",
726
  "closeness rank": 4
727
  },
728
  "heater": {
 
730
  "closeness rank": 5
731
  },
732
  "plant": {
733
+ "distance": "1.29 meters",
734
  "closeness rank": 6
735
  },
736
  "telephone": {
737
+ "distance": "1.18 meters",
738
  "closeness rank": 7
739
  },
740
  "shoes": {
 
750
  "closeness rank": 10
751
  },
752
  "keyboard": {
753
+ "distance": "2.45 meters",
754
  "closeness rank": 11
755
  },
756
  "whiteboard": {
 
762
  "closeness rank": 13
763
  },
764
  "printer": {
765
+ "distance": "3.45 meters",
766
  "closeness rank": 14
767
  }
768
  },
769
  "printer": {
770
  "whiteboard": {
771
+ "distance": "0.28 meters",
772
  "closeness rank": 1
773
  },
774
  "door": {
 
776
  "closeness rank": 2
777
  },
778
  "table": {
779
+ "distance": "3.46 meters",
780
  "closeness rank": 3
781
  },
782
  "chair": {
783
+ "distance": "1.2 meters",
784
  "closeness rank": 4
785
  },
786
  "ceiling light": {
 
788
  "closeness rank": 5
789
  },
790
  "monitor": {
791
+ "distance": "3.72 meters",
792
  "closeness rank": 6
793
  },
794
  "keyboard": {
795
+ "distance": "1.59 meters",
796
  "closeness rank": 7
797
  },
798
  "plant": {
799
+ "distance": "3.5 meters",
800
  "closeness rank": 8
801
  },
802
  "computer mouse": {
803
+ "distance": "3.37 meters",
804
  "closeness rank": 9
805
  },
806
  "laptop": {
807
+ "distance": "3.15 meters",
808
  "closeness rank": 10
809
  },
810
  "cup": {
811
+ "distance": "3.45 meters",
812
  "closeness rank": 11
813
  },
814
  "heater": {
 
816
  "closeness rank": 12
817
  },
818
  "shoes": {
819
+ "distance": "4.04 meters",
820
  "closeness rank": 13
821
  },
822
  "telephone": {
823
+ "distance": "4.37 meters",
824
  "closeness rank": 14
825
  }
826
  },
 
842
  "closeness rank": 4
843
  },
844
  "chair": {
845
+ "distance": "0.94 meters",
846
  "closeness rank": 5
847
  },
848
  "laptop": {
 
858
  "closeness rank": 8
859
  },
860
  "keyboard": {
861
+ "distance": "1.42 meters",
862
  "closeness rank": 9
863
  },
864
  "cup": {
 
888
  "closeness rank": 1
889
  },
890
  "chair": {
891
+ "distance": "1.78 meters",
892
  "closeness rank": 2
893
  },
894
  "table": {
895
+ "distance": "0.53 meters",
896
  "closeness rank": 3
897
  },
898
  "plant": {
899
+ "distance": "0.75 meters",
900
  "closeness rank": 4
901
  },
902
  "telephone": {
 
904
  "closeness rank": 5
905
  },
906
  "laptop": {
907
+ "distance": "1.13 meters",
908
  "closeness rank": 6
909
  },
910
  "monitor": {
911
+ "distance": "1.23 meters",
912
  "closeness rank": 7
913
  },
914
  "computer mouse": {
 
920
  "closeness rank": 9
921
  },
922
  "keyboard": {
923
+ "distance": "2.34 meters",
924
  "closeness rank": 10
925
  },
926
  "ceiling light": {
 
928
  "closeness rank": 11
929
  },
930
  "whiteboard": {
931
+ "distance": "3.16 meters",
932
  "closeness rank": 12
933
  },
934
  "printer": {
935
+ "distance": "4.04 meters",
936
  "closeness rank": 13
937
  },
938
  "door": {
 
942
  },
943
  "telephone": {
944
  "table": {
945
+ "distance": "0.38 meters",
946
  "closeness rank": 1
947
  },
948
  "heater": {
 
950
  "closeness rank": 2
951
  },
952
  "plant": {
953
+ "distance": "0.44 meters",
954
  "closeness rank": 3
955
  },
956
  "chair": {
957
+ "distance": "2.3 meters",
958
  "closeness rank": 4
959
  },
960
  "monitor": {
961
+ "distance": "0.66 meters",
962
  "closeness rank": 5
963
  },
964
  "shoes": {
 
966
  "closeness rank": 6
967
  },
968
  "cup": {
969
+ "distance": "1.18 meters",
970
  "closeness rank": 7
971
  },
972
  "computer mouse": {
 
974
  "closeness rank": 8
975
  },
976
  "ceiling light": {
977
+ "distance": "2.11 meters",
978
  "closeness rank": 9
979
  },
980
  "laptop": {
981
+ "distance": "1.73 meters",
982
  "closeness rank": 10
983
  },
984
  "keyboard": {
985
+ "distance": "2.91 meters",
986
  "closeness rank": 11
987
  },
988
  "whiteboard": {
 
990
  "closeness rank": 12
991
  },
992
  "printer": {
993
+ "distance": "4.37 meters",
994
  "closeness rank": 13
995
  },
996
  "door": {
 
1000
  },
1001
  "plant": {
1002
  "monitor": {
1003
+ "distance": "0.99 meters",
1004
  "closeness rank": 1
1005
  },
1006
  "table": {
1007
+ "distance": "0.79 meters",
1008
  "closeness rank": 2
1009
  },
1010
  "keyboard": {
1011
+ "distance": "1.88 meters",
1012
  "closeness rank": 3
1013
  },
1014
  "chair": {
1015
+ "distance": "1.51 meters",
1016
  "closeness rank": 4
1017
  },
1018
  "computer mouse": {
1019
+ "distance": "1.21 meters",
1020
  "closeness rank": 5
1021
  },
1022
  "heater": {
 
1024
  "closeness rank": 6
1025
  },
1026
  "telephone": {
1027
+ "distance": "0.44 meters",
1028
  "closeness rank": 7
1029
  },
1030
  "ceiling light": {
1031
+ "distance": "1.24 meters",
1032
  "closeness rank": 8
1033
  },
1034
  "whiteboard": {
1035
+ "distance": "2.41 meters",
1036
  "closeness rank": 9
1037
  },
1038
  "laptop": {
 
1040
  "closeness rank": 10
1041
  },
1042
  "shoes": {
1043
+ "distance": "0.75 meters",
1044
  "closeness rank": 11
1045
  },
1046
  "cup": {
1047
+ "distance": "1.29 meters",
1048
  "closeness rank": 12
1049
  },
1050
  "printer": {
1051
+ "distance": "3.5 meters",
1052
  "closeness rank": 13
1053
  },
1054
  "door": {
1055
+ "distance": "2.98 meters",
1056
  "closeness rank": 14
1057
  }
1058
  },
1059
  "whiteboard": {
1060
  "printer": {
1061
+ "distance": "0.28 meters",
1062
  "closeness rank": 1
1063
  },
1064
  "monitor": {
1065
+ "distance": "3.11 meters",
1066
  "closeness rank": 2
1067
  },
1068
  "table": {
1069
+ "distance": "2.85 meters",
1070
  "closeness rank": 3
1071
  },
1072
  "keyboard": {
1073
+ "distance": "0.47 meters",
1074
  "closeness rank": 4
1075
  },
1076
  "chair": {
 
1082
  "closeness rank": 6
1083
  },
1084
  "plant": {
1085
+ "distance": "2.41 meters",
1086
  "closeness rank": 7
1087
  },
1088
  "computer mouse": {
1089
+ "distance": "2.78 meters",
1090
  "closeness rank": 8
1091
  },
1092
  "door": {
 
1094
  "closeness rank": 9
1095
  },
1096
  "laptop": {
1097
+ "distance": "1.99 meters",
1098
  "closeness rank": 10
1099
  },
1100
  "heater": {
 
1106
  "closeness rank": 12
1107
  },
1108
  "shoes": {
1109
+ "distance": "3.16 meters",
1110
  "closeness rank": 13
1111
  },
1112
  "telephone": {
 
1120
  "closeness rank": 1
1121
  },
1122
  "monitor": {
1123
+ "distance": "2.67 meters",
1124
  "closeness rank": 2
1125
  },
1126
  "table": {
1127
+ "distance": "2.28 meters",
1128
  "closeness rank": 3
1129
  },
1130
  "computer mouse": {
1131
+ "distance": "2.31 meters",
1132
  "closeness rank": 4
1133
  },
1134
  "plant": {
1135
+ "distance": "1.88 meters",
1136
  "closeness rank": 5
1137
  },
1138
  "laptop": {
1139
+ "distance": "1.2 meters",
1140
  "closeness rank": 6
1141
  },
1142
  "whiteboard": {
1143
+ "distance": "0.47 meters",
1144
  "closeness rank": 7
1145
  },
1146
  "heater": {
1147
+ "distance": "1.42 meters",
1148
  "closeness rank": 8
1149
  },
1150
  "printer": {
1151
+ "distance": "1.59 meters",
1152
  "closeness rank": 9
1153
  },
1154
  "shoes": {
1155
+ "distance": "2.34 meters",
1156
  "closeness rank": 10
1157
  },
1158
  "ceiling light": {
 
1164
  "closeness rank": 12
1165
  },
1166
  "telephone": {
1167
+ "distance": "2.91 meters",
1168
  "closeness rank": 13
1169
  },
1170
  "cup": {
1171
+ "distance": "2.45 meters",
1172
  "closeness rank": 14
1173
  }
1174
  },
1175
  "laptop": {
1176
  "table": {
1177
+ "distance": "1.56 meters",
1178
  "closeness rank": 1
1179
  },
1180
  "computer mouse": {
1181
+ "distance": "1.85 meters",
1182
  "closeness rank": 2
1183
  },
1184
  "chair": {
1185
+ "distance": "1.01 meters",
1186
  "closeness rank": 3
1187
  },
1188
  "monitor": {
1189
+ "distance": "2.01 meters",
1190
  "closeness rank": 4
1191
  },
1192
  "keyboard": {
1193
+ "distance": "1.2 meters",
1194
  "closeness rank": 5
1195
  },
1196
  "heater": {
 
1202
  "closeness rank": 7
1203
  },
1204
  "shoes": {
1205
+ "distance": "1.13 meters",
1206
  "closeness rank": 8
1207
  },
1208
  "telephone": {
1209
+ "distance": "1.73 meters",
1210
  "closeness rank": 9
1211
  },
1212
  "ceiling light": {
 
1214
  "closeness rank": 10
1215
  },
1216
  "whiteboard": {
1217
+ "distance": "1.99 meters",
1218
  "closeness rank": 11
1219
  },
1220
  "cup": {
 
1222
  "closeness rank": 12
1223
  },
1224
  "printer": {
1225
+ "distance": "3.15 meters",
1226
  "closeness rank": 13
1227
  },
1228
  "door": {
 
1231
  }
1232
  }
1233
  },
1234
+ "appearance order": ["printer", "table", "heater", "door", "cup", "computer mouse", "chair", "ceiling light", "shoes", "monitor", "telephone", "plant", "whiteboard", "keyboard", "laptop"]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1235
  }
data/spatial codes/ground truth/explicit/e398684d27.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -131,9 +131,5 @@
131
  }
132
  }
133
  },
134
- "appearance order": [
135
- "ceiling light",
136
- "door",
137
- "monitor"
138
- ]
139
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
131
  }
132
  }
133
  },
134
+ "appearance order": ["ceiling light", "door", "monitor"]
 
 
 
 
135
  }
data/spatial codes/ground truth/explicit/f9f95681fd.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -208,15 +208,15 @@
208
  "closeness rank": 3
209
  },
210
  "microwave": {
211
- "distance": "1.17 meters",
212
  "closeness rank": 4
213
  },
214
  "kettle": {
215
- "distance": "1.33 meters",
216
  "closeness rank": 5
217
  },
218
  "cup": {
219
- "distance": "1.49 meters",
220
  "closeness rank": 6
221
  }
222
  },
@@ -260,7 +260,7 @@
260
  "closeness rank": 3
261
  },
262
  "cup": {
263
- "distance": "0.57 meters",
264
  "closeness rank": 4
265
  },
266
  "kettle": {
@@ -278,11 +278,11 @@
278
  "closeness rank": 1
279
  },
280
  "cup": {
281
- "distance": "0.67 meters",
282
  "closeness rank": 2
283
  },
284
  "exhaust fan": {
285
- "distance": "1.17 meters",
286
  "closeness rank": 3
287
  },
288
  "refrigerator": {
@@ -300,15 +300,15 @@
300
  },
301
  "cup": {
302
  "kettle": {
303
- "distance": "0.06 meters",
304
  "closeness rank": 1
305
  },
306
  "refrigerator": {
307
- "distance": "0.57 meters",
308
  "closeness rank": 2
309
  },
310
  "microwave": {
311
- "distance": "0.67 meters",
312
  "closeness rank": 3
313
  },
314
  "ceiling light": {
@@ -320,13 +320,13 @@
320
  "closeness rank": 5
321
  },
322
  "exhaust fan": {
323
- "distance": "1.49 meters",
324
  "closeness rank": 6
325
  }
326
  },
327
  "kettle": {
328
  "cup": {
329
- "distance": "0.06 meters",
330
  "closeness rank": 1
331
  },
332
  "refrigerator": {
@@ -338,7 +338,7 @@
338
  "closeness rank": 3
339
  },
340
  "exhaust fan": {
341
- "distance": "1.33 meters",
342
  "closeness rank": 4
343
  },
344
  "microwave": {
@@ -351,13 +351,5 @@
351
  }
352
  }
353
  },
354
- "appearance order": [
355
- "ceiling light",
356
- "exhaust fan",
357
- "door",
358
- "refrigerator",
359
- "microwave",
360
- "cup",
361
- "kettle"
362
- ]
363
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
208
  "closeness rank": 3
209
  },
210
  "microwave": {
211
+ "distance": "1.85 meters",
212
  "closeness rank": 4
213
  },
214
  "kettle": {
215
+ "distance": "1.34 meters",
216
  "closeness rank": 5
217
  },
218
  "cup": {
219
+ "distance": "2.12 meters",
220
  "closeness rank": 6
221
  }
222
  },
 
260
  "closeness rank": 3
261
  },
262
  "cup": {
263
+ "distance": "0.76 meters",
264
  "closeness rank": 4
265
  },
266
  "kettle": {
 
278
  "closeness rank": 1
279
  },
280
  "cup": {
281
+ "distance": "0.68 meters",
282
  "closeness rank": 2
283
  },
284
  "exhaust fan": {
285
+ "distance": "1.85 meters",
286
  "closeness rank": 3
287
  },
288
  "refrigerator": {
 
300
  },
301
  "cup": {
302
  "kettle": {
303
+ "distance": "1.22 meters",
304
  "closeness rank": 1
305
  },
306
  "refrigerator": {
307
+ "distance": "0.76 meters",
308
  "closeness rank": 2
309
  },
310
  "microwave": {
311
+ "distance": "0.68 meters",
312
  "closeness rank": 3
313
  },
314
  "ceiling light": {
 
320
  "closeness rank": 5
321
  },
322
  "exhaust fan": {
323
+ "distance": "2.12 meters",
324
  "closeness rank": 6
325
  }
326
  },
327
  "kettle": {
328
  "cup": {
329
+ "distance": "1.22 meters",
330
  "closeness rank": 1
331
  },
332
  "refrigerator": {
 
338
  "closeness rank": 3
339
  },
340
  "exhaust fan": {
341
+ "distance": "1.34 meters",
342
  "closeness rank": 4
343
  },
344
  "microwave": {
 
351
  }
352
  }
353
  },
354
+ "appearance order": ["ceiling light", "exhaust fan", "door", "refrigerator", "microwave", "cup", "kettle"]
 
 
 
 
 
 
 
 
355
  }
data/spatial codes/ground truth/explicit/scene0030_02.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -378,19 +378,19 @@
378
  "closest classes distance meters from": {
379
  "chair": {
380
  "table": {
381
- "distance": "0.0 meters",
382
  "closeness rank": 1
383
  },
384
  "trash bin": {
385
- "distance": "0.1 meters",
386
  "closeness rank": 2
387
  },
388
  "bookshelf": {
389
- "distance": "0.25 meters",
390
  "closeness rank": 3
391
  },
392
  "door": {
393
- "distance": "0.96 meters",
394
  "closeness rank": 4
395
  },
396
  "window": {
@@ -398,17 +398,17 @@
398
  "closeness rank": 5
399
  },
400
  "clock": {
401
- "distance": "1.4 meters",
402
  "closeness rank": 6
403
  }
404
  },
405
  "window": {
406
  "bookshelf": {
407
- "distance": "0.0 meters",
408
  "closeness rank": 1
409
  },
410
  "table": {
411
- "distance": "0.14 meters",
412
  "closeness rank": 2
413
  },
414
  "chair": {
@@ -416,7 +416,7 @@
416
  "closeness rank": 3
417
  },
418
  "clock": {
419
- "distance": "2.86 meters",
420
  "closeness rank": 4
421
  },
422
  "door": {
@@ -430,7 +430,7 @@
430
  },
431
  "bookshelf": {
432
  "table": {
433
- "distance": "0.0 meters",
434
  "closeness rank": 1
435
  },
436
  "trash bin": {
@@ -438,7 +438,7 @@
438
  "closeness rank": 2
439
  },
440
  "window": {
441
- "distance": "0.0 meters",
442
  "closeness rank": 3
443
  },
444
  "door": {
@@ -446,17 +446,17 @@
446
  "closeness rank": 4
447
  },
448
  "chair": {
449
- "distance": "0.25 meters",
450
  "closeness rank": 5
451
  },
452
  "clock": {
453
- "distance": "2.79 meters",
454
  "closeness rank": 6
455
  }
456
  },
457
  "clock": {
458
  "chair": {
459
- "distance": "1.4 meters",
460
  "closeness rank": 1
461
  },
462
  "table": {
@@ -464,15 +464,15 @@
464
  "closeness rank": 2
465
  },
466
  "bookshelf": {
467
- "distance": "2.79 meters",
468
  "closeness rank": 3
469
  },
470
  "window": {
471
- "distance": "2.86 meters",
472
  "closeness rank": 4
473
  },
474
  "trash bin": {
475
- "distance": "5.41 meters",
476
  "closeness rank": 5
477
  },
478
  "door": {
@@ -486,7 +486,7 @@
486
  "closeness rank": 1
487
  },
488
  "chair": {
489
- "distance": "0.1 meters",
490
  "closeness rank": 2
491
  },
492
  "door": {
@@ -494,7 +494,7 @@
494
  "closeness rank": 3
495
  },
496
  "table": {
497
- "distance": "0.83 meters",
498
  "closeness rank": 4
499
  },
500
  "window": {
@@ -502,7 +502,7 @@
502
  "closeness rank": 5
503
  },
504
  "clock": {
505
- "distance": "5.41 meters",
506
  "closeness rank": 6
507
  }
508
  },
@@ -516,11 +516,11 @@
516
  "closeness rank": 2
517
  },
518
  "chair": {
519
- "distance": "0.96 meters",
520
  "closeness rank": 3
521
  },
522
  "table": {
523
- "distance": "1.25 meters",
524
  "closeness rank": 4
525
  },
526
  "window": {
@@ -534,23 +534,23 @@
534
  },
535
  "table": {
536
  "bookshelf": {
537
- "distance": "0.0 meters",
538
  "closeness rank": 1
539
  },
540
  "chair": {
541
- "distance": "0.0 meters",
542
  "closeness rank": 2
543
  },
544
  "window": {
545
- "distance": "0.14 meters",
546
  "closeness rank": 3
547
  },
548
  "trash bin": {
549
- "distance": "0.83 meters",
550
  "closeness rank": 4
551
  },
552
  "door": {
553
- "distance": "1.25 meters",
554
  "closeness rank": 5
555
  },
556
  "clock": {
@@ -559,13 +559,5 @@
559
  }
560
  }
561
  },
562
- "appearance order": [
563
- "table",
564
- "chair",
565
- "window",
566
- "bookshelf",
567
- "door",
568
- "trash bin",
569
- "clock"
570
- ]
571
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
378
  "closest classes distance meters from": {
379
  "chair": {
380
  "table": {
381
+ "distance": "0.8 meters",
382
  "closeness rank": 1
383
  },
384
  "trash bin": {
385
+ "distance": "3.07 meters",
386
  "closeness rank": 2
387
  },
388
  "bookshelf": {
389
+ "distance": "2.61 meters",
390
  "closeness rank": 3
391
  },
392
  "door": {
393
+ "distance": "1.51 meters",
394
  "closeness rank": 4
395
  },
396
  "window": {
 
398
  "closeness rank": 5
399
  },
400
  "clock": {
401
+ "distance": "4.27 meters",
402
  "closeness rank": 6
403
  }
404
  },
405
  "window": {
406
  "bookshelf": {
407
+ "distance": "4.1 meters",
408
  "closeness rank": 1
409
  },
410
  "table": {
411
+ "distance": "1.41 meters",
412
  "closeness rank": 2
413
  },
414
  "chair": {
 
416
  "closeness rank": 3
417
  },
418
  "clock": {
419
+ "distance": "4.37 meters",
420
  "closeness rank": 4
421
  },
422
  "door": {
 
430
  },
431
  "bookshelf": {
432
  "table": {
433
+ "distance": "2.17 meters",
434
  "closeness rank": 1
435
  },
436
  "trash bin": {
 
438
  "closeness rank": 2
439
  },
440
  "window": {
441
+ "distance": "4.1 meters",
442
  "closeness rank": 3
443
  },
444
  "door": {
 
446
  "closeness rank": 4
447
  },
448
  "chair": {
449
+ "distance": "2.61 meters",
450
  "closeness rank": 5
451
  },
452
  "clock": {
453
+ "distance": "5.19 meters",
454
  "closeness rank": 6
455
  }
456
  },
457
  "clock": {
458
  "chair": {
459
+ "distance": "4.27 meters",
460
  "closeness rank": 1
461
  },
462
  "table": {
 
464
  "closeness rank": 2
465
  },
466
  "bookshelf": {
467
+ "distance": "5.19 meters",
468
  "closeness rank": 3
469
  },
470
  "window": {
471
+ "distance": "4.37 meters",
472
  "closeness rank": 4
473
  },
474
  "trash bin": {
475
+ "distance": "5.42 meters",
476
  "closeness rank": 5
477
  },
478
  "door": {
 
486
  "closeness rank": 1
487
  },
488
  "chair": {
489
+ "distance": "3.07 meters",
490
  "closeness rank": 2
491
  },
492
  "door": {
 
494
  "closeness rank": 3
495
  },
496
  "table": {
497
+ "distance": "2.35 meters",
498
  "closeness rank": 4
499
  },
500
  "window": {
 
502
  "closeness rank": 5
503
  },
504
  "clock": {
505
+ "distance": "5.42 meters",
506
  "closeness rank": 6
507
  }
508
  },
 
516
  "closeness rank": 2
517
  },
518
  "chair": {
519
+ "distance": "1.51 meters",
520
  "closeness rank": 3
521
  },
522
  "table": {
523
+ "distance": "1.68 meters",
524
  "closeness rank": 4
525
  },
526
  "window": {
 
534
  },
535
  "table": {
536
  "bookshelf": {
537
+ "distance": "2.17 meters",
538
  "closeness rank": 1
539
  },
540
  "chair": {
541
+ "distance": "0.8 meters",
542
  "closeness rank": 2
543
  },
544
  "window": {
545
+ "distance": "1.41 meters",
546
  "closeness rank": 3
547
  },
548
  "trash bin": {
549
+ "distance": "2.35 meters",
550
  "closeness rank": 4
551
  },
552
  "door": {
553
+ "distance": "1.68 meters",
554
  "closeness rank": 5
555
  },
556
  "clock": {
 
559
  }
560
  }
561
  },
562
+ "appearance order": ["table", "chair", "window", "bookshelf", "door", "trash bin", "clock"]
 
 
 
 
 
 
 
 
563
  }
data/spatial codes/ground truth/explicit/scene0046_01.json CHANGED
@@ -41,11 +41,11 @@
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
- "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
- "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
49
  }
50
  }
51
  }
@@ -222,7 +222,7 @@
222
  "closest classes distance meters from": {
223
  "bed": {
224
  "backpack": {
225
- "distance": "0.0 meters",
226
  "closeness rank": 1
227
  },
228
  "nightstand": {
@@ -238,7 +238,7 @@
238
  "closeness rank": 4
239
  },
240
  "door": {
241
- "distance": "0.31 meters",
242
  "closeness rank": 5
243
  },
244
  "towel": {
@@ -250,15 +250,15 @@
250
  "closeness rank": 7
251
  },
252
  "mirror": {
253
- "distance": "0.8 meters",
254
  "closeness rank": 8
255
  },
256
  "lamp": {
257
- "distance": "1.0 meters",
258
  "closeness rank": 9
259
  },
260
  "trash bin": {
261
- "distance": "1.1 meters",
262
  "closeness rank": 10
263
  }
264
  },
@@ -276,7 +276,7 @@
276
  "closeness rank": 3
277
  },
278
  "lamp": {
279
- "distance": "0.4 meters",
280
  "closeness rank": 4
281
  },
282
  "nightstand": {
@@ -288,7 +288,7 @@
288
  "closeness rank": 6
289
  },
290
  "door": {
291
- "distance": "2.0 meters",
292
  "closeness rank": 7
293
  },
294
  "towel": {
@@ -296,7 +296,7 @@
296
  "closeness rank": 8
297
  },
298
  "mirror": {
299
- "distance": "2.73 meters",
300
  "closeness rank": 9
301
  },
302
  "trash bin": {
@@ -310,27 +310,27 @@
310
  "closeness rank": 1
311
  },
312
  "backpack": {
313
- "distance": "0.27 meters",
314
  "closeness rank": 2
315
  },
316
  "chair": {
317
- "distance": "0.4 meters",
318
  "closeness rank": 3
319
  },
320
  "bed": {
321
- "distance": "1.0 meters",
322
  "closeness rank": 4
323
  },
324
  "nightstand": {
325
- "distance": "1.79 meters",
326
  "closeness rank": 5
327
  },
328
  "tv": {
329
- "distance": "2.15 meters",
330
  "closeness rank": 6
331
  },
332
  "door": {
333
- "distance": "3.11 meters",
334
  "closeness rank": 7
335
  },
336
  "towel": {
@@ -338,7 +338,7 @@
338
  "closeness rank": 8
339
  },
340
  "mirror": {
341
- "distance": "4.16 meters",
342
  "closeness rank": 9
343
  },
344
  "trash bin": {
@@ -348,7 +348,7 @@
348
  },
349
  "towel": {
350
  "door": {
351
- "distance": "0.19 meters",
352
  "closeness rank": 1
353
  },
354
  "trash bin": {
@@ -356,7 +356,7 @@
356
  "closeness rank": 2
357
  },
358
  "mirror": {
359
- "distance": "0.37 meters",
360
  "closeness rank": 3
361
  },
362
  "bed": {
@@ -380,7 +380,7 @@
380
  "closeness rank": 8
381
  },
382
  "backpack": {
383
- "distance": "2.95 meters",
384
  "closeness rank": 9
385
  },
386
  "lamp": {
@@ -398,7 +398,7 @@
398
  "closeness rank": 2
399
  },
400
  "backpack": {
401
- "distance": "0.75 meters",
402
  "closeness rank": 3
403
  },
404
  "chair": {
@@ -410,11 +410,11 @@
410
  "closeness rank": 5
411
  },
412
  "lamp": {
413
- "distance": "2.15 meters",
414
  "closeness rank": 6
415
  },
416
  "door": {
417
- "distance": "2.46 meters",
418
  "closeness rank": 7
419
  },
420
  "towel": {
@@ -426,7 +426,7 @@
426
  "closeness rank": 9
427
  },
428
  "trash bin": {
429
- "distance": "3.21 meters",
430
  "closeness rank": 10
431
  }
432
  },
@@ -436,7 +436,7 @@
436
  "closeness rank": 1
437
  },
438
  "backpack": {
439
- "distance": "0.04 meters",
440
  "closeness rank": 2
441
  },
442
  "tv": {
@@ -452,11 +452,11 @@
452
  "closeness rank": 5
453
  },
454
  "lamp": {
455
- "distance": "1.79 meters",
456
  "closeness rank": 6
457
  },
458
  "door": {
459
- "distance": "2.5 meters",
460
  "closeness rank": 7
461
  },
462
  "towel": {
@@ -474,7 +474,7 @@
474
  },
475
  "backpack": {
476
  "bed": {
477
- "distance": "0.0 meters",
478
  "closeness rank": 1
479
  },
480
  "chair": {
@@ -486,53 +486,53 @@
486
  "closeness rank": 3
487
  },
488
  "nightstand": {
489
- "distance": "0.04 meters",
490
  "closeness rank": 4
491
  },
492
  "lamp": {
493
- "distance": "0.27 meters",
494
  "closeness rank": 5
495
  },
496
  "tv": {
497
- "distance": "0.75 meters",
498
  "closeness rank": 6
499
  },
500
  "door": {
501
- "distance": "2.63 meters",
502
  "closeness rank": 7
503
  },
504
  "towel": {
505
- "distance": "2.95 meters",
506
  "closeness rank": 8
507
  },
508
  "mirror": {
509
- "distance": "3.24 meters",
510
  "closeness rank": 9
511
  },
512
  "trash bin": {
513
- "distance": "3.39 meters",
514
  "closeness rank": 10
515
  }
516
  },
517
  "mirror": {
518
  "towel": {
519
- "distance": "0.37 meters",
520
  "closeness rank": 1
521
  },
522
  "door": {
523
- "distance": "0.54 meters",
524
  "closeness rank": 2
525
  },
526
  "bed": {
527
- "distance": "0.8 meters",
528
  "closeness rank": 3
529
  },
530
  "trash bin": {
531
- "distance": "0.86 meters",
532
  "closeness rank": 4
533
  },
534
  "chair": {
535
- "distance": "2.73 meters",
536
  "closeness rank": 5
537
  },
538
  "tv": {
@@ -540,7 +540,7 @@
540
  "closeness rank": 6
541
  },
542
  "table": {
543
- "distance": "2.78 meters",
544
  "closeness rank": 7
545
  },
546
  "nightstand": {
@@ -548,11 +548,11 @@
548
  "closeness rank": 8
549
  },
550
  "backpack": {
551
- "distance": "3.24 meters",
552
  "closeness rank": 9
553
  },
554
  "lamp": {
555
- "distance": "4.16 meters",
556
  "closeness rank": 10
557
  }
558
  },
@@ -562,19 +562,19 @@
562
  "closeness rank": 1
563
  },
564
  "door": {
565
- "distance": "0.73 meters",
566
  "closeness rank": 2
567
  },
568
  "mirror": {
569
- "distance": "0.86 meters",
570
  "closeness rank": 3
571
  },
572
  "bed": {
573
- "distance": "1.1 meters",
574
  "closeness rank": 4
575
  },
576
  "table": {
577
- "distance": "2.91 meters",
578
  "closeness rank": 5
579
  },
580
  "chair": {
@@ -586,11 +586,11 @@
586
  "closeness rank": 7
587
  },
588
  "tv": {
589
- "distance": "3.21 meters",
590
  "closeness rank": 8
591
  },
592
  "backpack": {
593
- "distance": "3.39 meters",
594
  "closeness rank": 9
595
  },
596
  "lamp": {
@@ -600,43 +600,43 @@
600
  },
601
  "door": {
602
  "towel": {
603
- "distance": "0.19 meters",
604
  "closeness rank": 1
605
  },
606
  "bed": {
607
- "distance": "0.31 meters",
608
  "closeness rank": 2
609
  },
610
  "mirror": {
611
- "distance": "0.54 meters",
612
  "closeness rank": 3
613
  },
614
  "trash bin": {
615
- "distance": "0.73 meters",
616
  "closeness rank": 4
617
  },
618
  "table": {
619
- "distance": "1.72 meters",
620
  "closeness rank": 5
621
  },
622
  "chair": {
623
- "distance": "2.0 meters",
624
  "closeness rank": 6
625
  },
626
  "tv": {
627
- "distance": "2.46 meters",
628
  "closeness rank": 7
629
  },
630
  "nightstand": {
631
- "distance": "2.5 meters",
632
  "closeness rank": 8
633
  },
634
  "backpack": {
635
- "distance": "2.63 meters",
636
  "closeness rank": 9
637
  },
638
  "lamp": {
639
- "distance": "3.11 meters",
640
  "closeness rank": 10
641
  }
642
  },
@@ -666,7 +666,7 @@
666
  "closeness rank": 6
667
  },
668
  "door": {
669
- "distance": "1.72 meters",
670
  "closeness rank": 7
671
  },
672
  "towel": {
@@ -674,26 +674,14 @@
674
  "closeness rank": 8
675
  },
676
  "mirror": {
677
- "distance": "2.78 meters",
678
  "closeness rank": 9
679
  },
680
  "trash bin": {
681
- "distance": "2.91 meters",
682
  "closeness rank": 10
683
  }
684
  }
685
  },
686
- "appearance order": [
687
- "tv",
688
- "nightstand",
689
- "chair",
690
- "bed",
691
- "backpack",
692
- "lamp",
693
- "door",
694
- "trash bin",
695
- "towel",
696
- "mirror",
697
- "table"
698
- ]
699
  }
 
41
  "<other object class>": {
42
  "distance": {
43
  "unit": "meters",
44
+ "description": "estimated distance in meters between an object of this class and an object of the other class"
45
  },
46
  "closeness rank": {
47
  "unit": null,
48
+ "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
49
  }
50
  }
51
  }
 
222
  "closest classes distance meters from": {
223
  "bed": {
224
  "backpack": {
225
+ "distance": "0.36 meters",
226
  "closeness rank": 1
227
  },
228
  "nightstand": {
 
238
  "closeness rank": 4
239
  },
240
  "door": {
241
+ "distance": "1.33 meters",
242
  "closeness rank": 5
243
  },
244
  "towel": {
 
250
  "closeness rank": 7
251
  },
252
  "mirror": {
253
+ "distance": "0.96 meters",
254
  "closeness rank": 8
255
  },
256
  "lamp": {
257
+ "distance": "1.08 meters",
258
  "closeness rank": 9
259
  },
260
  "trash bin": {
261
+ "distance": "1.15 meters",
262
  "closeness rank": 10
263
  }
264
  },
 
276
  "closeness rank": 3
277
  },
278
  "lamp": {
279
+ "distance": "0.55 meters",
280
  "closeness rank": 4
281
  },
282
  "nightstand": {
 
288
  "closeness rank": 6
289
  },
290
  "door": {
291
+ "distance": "2.66 meters",
292
  "closeness rank": 7
293
  },
294
  "towel": {
 
296
  "closeness rank": 8
297
  },
298
  "mirror": {
299
+ "distance": "2.84 meters",
300
  "closeness rank": 9
301
  },
302
  "trash bin": {
 
310
  "closeness rank": 1
311
  },
312
  "backpack": {
313
+ "distance": "0.3 meters",
314
  "closeness rank": 2
315
  },
316
  "chair": {
317
+ "distance": "0.55 meters",
318
  "closeness rank": 3
319
  },
320
  "bed": {
321
+ "distance": "1.08 meters",
322
  "closeness rank": 4
323
  },
324
  "nightstand": {
325
+ "distance": "1.85 meters",
326
  "closeness rank": 5
327
  },
328
  "tv": {
329
+ "distance": "2.21 meters",
330
  "closeness rank": 6
331
  },
332
  "door": {
333
+ "distance": "3.72 meters",
334
  "closeness rank": 7
335
  },
336
  "towel": {
 
338
  "closeness rank": 8
339
  },
340
  "mirror": {
341
+ "distance": "4.22 meters",
342
  "closeness rank": 9
343
  },
344
  "trash bin": {
 
348
  },
349
  "towel": {
350
  "door": {
351
+ "distance": "0.82 meters",
352
  "closeness rank": 1
353
  },
354
  "trash bin": {
 
356
  "closeness rank": 2
357
  },
358
  "mirror": {
359
+ "distance": "0.47 meters",
360
  "closeness rank": 3
361
  },
362
  "bed": {
 
380
  "closeness rank": 8
381
  },
382
  "backpack": {
383
+ "distance": "3.04 meters",
384
  "closeness rank": 9
385
  },
386
  "lamp": {
 
398
  "closeness rank": 2
399
  },
400
  "backpack": {
401
+ "distance": "1.48 meters",
402
  "closeness rank": 3
403
  },
404
  "chair": {
 
410
  "closeness rank": 5
411
  },
412
  "lamp": {
413
+ "distance": "2.21 meters",
414
  "closeness rank": 6
415
  },
416
  "door": {
417
+ "distance": "3.32 meters",
418
  "closeness rank": 7
419
  },
420
  "towel": {
 
426
  "closeness rank": 9
427
  },
428
  "trash bin": {
429
+ "distance": "3.26 meters",
430
  "closeness rank": 10
431
  }
432
  },
 
436
  "closeness rank": 1
437
  },
438
  "backpack": {
439
+ "distance": "1.1 meters",
440
  "closeness rank": 2
441
  },
442
  "tv": {
 
452
  "closeness rank": 5
453
  },
454
  "lamp": {
455
+ "distance": "1.85 meters",
456
  "closeness rank": 6
457
  },
458
  "door": {
459
+ "distance": "3.36 meters",
460
  "closeness rank": 7
461
  },
462
  "towel": {
 
474
  },
475
  "backpack": {
476
  "bed": {
477
+ "distance": "0.36 meters",
478
  "closeness rank": 1
479
  },
480
  "chair": {
 
486
  "closeness rank": 3
487
  },
488
  "nightstand": {
489
+ "distance": "1.1 meters",
490
  "closeness rank": 4
491
  },
492
  "lamp": {
493
+ "distance": "0.3 meters",
494
  "closeness rank": 5
495
  },
496
  "tv": {
497
+ "distance": "1.48 meters",
498
  "closeness rank": 6
499
  },
500
  "door": {
501
+ "distance": "3.37 meters",
502
  "closeness rank": 7
503
  },
504
  "towel": {
505
+ "distance": "3.04 meters",
506
  "closeness rank": 8
507
  },
508
  "mirror": {
509
+ "distance": "3.61 meters",
510
  "closeness rank": 9
511
  },
512
  "trash bin": {
513
+ "distance": "3.68 meters",
514
  "closeness rank": 10
515
  }
516
  },
517
  "mirror": {
518
  "towel": {
519
+ "distance": "0.47 meters",
520
  "closeness rank": 1
521
  },
522
  "door": {
523
+ "distance": "0.8 meters",
524
  "closeness rank": 2
525
  },
526
  "bed": {
527
+ "distance": "0.96 meters",
528
  "closeness rank": 3
529
  },
530
  "trash bin": {
531
+ "distance": "0.91 meters",
532
  "closeness rank": 4
533
  },
534
  "chair": {
535
+ "distance": "2.84 meters",
536
  "closeness rank": 5
537
  },
538
  "tv": {
 
540
  "closeness rank": 6
541
  },
542
  "table": {
543
+ "distance": "2.9 meters",
544
  "closeness rank": 7
545
  },
546
  "nightstand": {
 
548
  "closeness rank": 8
549
  },
550
  "backpack": {
551
+ "distance": "3.61 meters",
552
  "closeness rank": 9
553
  },
554
  "lamp": {
555
+ "distance": "4.22 meters",
556
  "closeness rank": 10
557
  }
558
  },
 
562
  "closeness rank": 1
563
  },
564
  "door": {
565
+ "distance": "0.87 meters",
566
  "closeness rank": 2
567
  },
568
  "mirror": {
569
+ "distance": "0.91 meters",
570
  "closeness rank": 3
571
  },
572
  "bed": {
573
+ "distance": "1.15 meters",
574
  "closeness rank": 4
575
  },
576
  "table": {
577
+ "distance": "2.98 meters",
578
  "closeness rank": 5
579
  },
580
  "chair": {
 
586
  "closeness rank": 7
587
  },
588
  "tv": {
589
+ "distance": "3.26 meters",
590
  "closeness rank": 8
591
  },
592
  "backpack": {
593
+ "distance": "3.68 meters",
594
  "closeness rank": 9
595
  },
596
  "lamp": {
 
600
  },
601
  "door": {
602
  "towel": {
603
+ "distance": "0.82 meters",
604
  "closeness rank": 1
605
  },
606
  "bed": {
607
+ "distance": "1.33 meters",
608
  "closeness rank": 2
609
  },
610
  "mirror": {
611
+ "distance": "0.8 meters",
612
  "closeness rank": 3
613
  },
614
  "trash bin": {
615
+ "distance": "0.87 meters",
616
  "closeness rank": 4
617
  },
618
  "table": {
619
+ "distance": "2.37 meters",
620
  "closeness rank": 5
621
  },
622
  "chair": {
623
+ "distance": "2.66 meters",
624
  "closeness rank": 6
625
  },
626
  "tv": {
627
+ "distance": "3.32 meters",
628
  "closeness rank": 7
629
  },
630
  "nightstand": {
631
+ "distance": "3.36 meters",
632
  "closeness rank": 8
633
  },
634
  "backpack": {
635
+ "distance": "3.37 meters",
636
  "closeness rank": 9
637
  },
638
  "lamp": {
639
+ "distance": "3.72 meters",
640
  "closeness rank": 10
641
  }
642
  },
 
666
  "closeness rank": 6
667
  },
668
  "door": {
669
+ "distance": "2.37 meters",
670
  "closeness rank": 7
671
  },
672
  "towel": {
 
674
  "closeness rank": 8
675
  },
676
  "mirror": {
677
+ "distance": "2.9 meters",
678
  "closeness rank": 9
679
  },
680
  "trash bin": {
681
+ "distance": "2.98 meters",
682
  "closeness rank": 10
683
  }
684
  }
685
  },
686
+ "appearance order": ["tv", "nightstand", "chair", "bed", "backpack", "lamp", "door", "trash bin", "towel", "mirror", "table"]
 
 
 
 
 
 
 
 
 
 
 
 
687
  }