diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/13c3e046d7.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/13c3e046d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..3968b0fae8901b3982ffed6e1d9d0f07351070c4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/13c3e046d7.json	
@@ -0,0 +1,574 @@
+{
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+    {
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+      "3D oriented bounding box center coordinates": {
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+        "y",
+        "height above floor"
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+        "dimension 2",
+        "dimension 3"
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+        [
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+         "y",
+         "height"
+        ],
+        [
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+         "y",
+         "height"
+        ],
+        [
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+         "y",
+         "height"
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/21d970d8de.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/21d970d8de.json
new file mode 100644
index 0000000000000000000000000000000000000000..76fccb5bf5d402454d2d4b550e396c276c69f36b
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/21d970d8de.json	
@@ -0,0 +1,1146 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+    {
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+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+       [
+        [
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+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+      0.69,
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+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.75,
+      0.73,
+      6.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.41
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       1.0
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+    "first visible time": 8.17
+   },
+   {
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+      0.91,
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+     "3D oriented bounding box dimensions": [
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+   },
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+      0.45,
+      7.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.01
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    },
+    "first visible time": 10.33
+   }
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+     "3D oriented bounding box center coordinates": [
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+      -1.1,
+      -0.02
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+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.03
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
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+       0.41,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
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+     "3D oriented bounding box center coordinates": [
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+      1.45,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.22,
+      0.07
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       0.0
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 8.5
+   }
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+  "door": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.56,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.9,
+      0.03
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+       0.0
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+       0.0,
+       1.0
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+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.87,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.12,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.75,
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+      [
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+       -0.66,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
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+  "exhaust fan": [
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+    "3D oriented bounding box": {
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+      -1.22,
+      3.48
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      2.38
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 7.5
+   }
+  ],
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.79,
+      7.07
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.83
+   }
+  ],
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.83,
+      2.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
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+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.78,
+      7.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.0
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
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+      0.75,
+      7.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.06,
+       0.0
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.45,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.26,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
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+      [
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+       0.32,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.04,
+      1.44,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+      ],
+      [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "tv": [
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+     "3D oriented bounding box center coordinates": [
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+      -0.08,
+      1.85
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      1.23
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+      [
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+       0.05,
+       0.0
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+      [
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+       0.0,
+       1.0
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+   },
+   {
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+      0.08,
+      7.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.8,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
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+      [
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+       0.33,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.03,
+      7.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.73,
+       0.0
+      ],
+      [
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+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.33
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.83,
+      0.36,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      2.06,
+      1.12,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.35,
+      0.01,
+      5.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      1.27,
+      1.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.73,
+      -1.83
+     ],
+     [
+      4.77,
+      -1.83
+     ],
+     [
+      4.77,
+      1.57
+     ],
+     [
+      2.87,
+      1.57
+     ],
+     [
+      2.77,
+      1.67
+     ],
+     [
+      2.77,
+      1.77
+     ],
+     [
+      -2.73,
+      1.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/3e8bba0176.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/3e8bba0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6e370290bb3a7c26cca8b572b082ddc905f2a25
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/3e8bba0176.json	
@@ -0,0 +1,1996 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.1,
+      1.33,
+      2.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.12,
+      1.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.42,
+      0.59,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.03,
+      0.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.23,
+      -1.12,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.01,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.16,
+      2.19,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.37,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.55,
+       0.0
+      ],
+      [
+       -0.55,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.71,
+      1.26,
+      2.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.9,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.52,
+       0.0
+      ],
+      [
+       0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.85,
+      1.59,
+      1.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.33,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      0.48,
+      3.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.45,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      2.11,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.01,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      2.29,
+      1.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.09,
+      0.1
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
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+      1.43,
+      1.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.03
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+   },
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+      2.8,
+      1.18
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+     "3D oriented bounding box dimensions": [
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+      0.61,
+      1.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
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+   },
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+      1.76,
+      1.58
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+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.07
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.5,
+       0.0
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+       0.0,
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+      1.46,
+      1.82
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.73,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.54,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.77,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+   },
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+      0.83,
+      3.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.39,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+       0.0,
+       1.0
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+   },
+   {
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+      2.73,
+      1.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.65,
+       0.0
+      ],
+      [
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+       0.76,
+       0.0
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.26,
+      0.26
+     ],
+     [
+      -3.16,
+      0.26
+     ],
+     [
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+     [
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+     ],
+     [
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+     ],
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+     ],
+     [
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+      0.06
+     ],
+     [
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+      0.36
+     ],
+     [
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+      0.56
+     ],
+     [
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+      0.66
+     ],
+     [
+      1.14,
+      0.86
+     ],
+     [
+      1.14,
+      0.96
+     ],
+     [
+      0.84,
+      1.26
+     ],
+     [
+      0.84,
+      1.36
+     ],
+     [
+      0.64,
+      1.56
+     ],
+     [
+      0.64,
+      1.66
+     ],
+     [
+      0.24,
+      2.06
+     ],
+     [
+      0.24,
+      2.16
+     ],
+     [
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+      2.46
+     ],
+     [
+      -0.06,
+      2.56
+     ],
+     [
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+      2.76
+     ],
+     [
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+      2.86
+     ],
+     [
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+      3.06
+     ],
+     [
+      -0.46,
+      3.16
+     ],
+     [
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+      3.26
+     ],
+     [
+      -0.86,
+      3.26
+     ],
+     [
+      -0.96,
+      3.36
+     ],
+     [
+      -0.96,
+      3.46
+     ],
+     [
+      -1.46,
+      3.46
+     ],
+     [
+      -1.46,
+      3.36
+     ],
+     [
+      -1.56,
+      3.26
+     ],
+     [
+      -2.16,
+      3.26
+     ],
+     [
+      -2.26,
+      3.16
+     ],
+     [
+      -2.36,
+      3.16
+     ],
+     [
+      -2.56,
+      2.96
+     ],
+     [
+      -2.66,
+      2.96
+     ],
+     [
+      -2.96,
+      2.66
+     ],
+     [
+      -3.06,
+      2.66
+     ],
+     [
+      -3.16,
+      2.56
+     ],
+     [
+      -3.26,
+      2.56
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/3f15a9266d.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..05533dcc7806363f20c2c976571d06fed8d73f31
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/3f15a9266d.json	
@@ -0,0 +1,1192 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.06,
+      2.03,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      1.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
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+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.1,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.29,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.16,
+       0.0
+      ],
+      [
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   },
+   {
+    "3D oriented bounding box": {
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+      2.15,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      1.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.21,
+       0.0
+      ],
+      [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "bucket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.4,
+      1.63,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.05,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.66,
+       0.0
+      ],
+      [
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+       0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.38,
+      1.97
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.17,
+       0.0
+      ],
+      [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      1.1,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.52,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.1,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
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+      0.02,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      1.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.37,
+       0.0
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.98,
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+      0.42,
+      0.74
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.34,
+       0.0
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+       0.94,
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
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+      1.61,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.44,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.68,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.85,
+       0.0
+      ],
+      [
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+       0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.2,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
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+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
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+      -0.03,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
+      ],
+      [
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+       0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
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+      1.1,
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+     "3D oriented bounding box dimensions": [
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+      -0.73,
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+     "3D oriented bounding box orientation unit vectors": [
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+   }
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+    "3D oriented bounding box": {
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+      -1.04,
+      0.36
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+       1.0
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+      -0.9,
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+      -0.47,
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+       0.0,
+       1.0
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+    "first visible time": 9.67
+   }
+  ],
+  "whiteboard": [
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+      0.18,
+      0.92
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+      0.03,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.2,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.85,
+      -0.67
+     ],
+     [
+      -1.75,
+      -0.67
+     ],
+     [
+      -1.65,
+      -0.77
+     ],
+     [
+      -1.65,
+      -1.47
+     ],
+     [
+      1.65,
+      -1.47
+     ],
+     [
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+      1.33
+     ],
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+      1.55,
+      1.33
+     ],
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+      1.45,
+      1.43
+     ],
+     [
+      1.45,
+      2.03
+     ],
+     [
+      1.35,
+      2.13
+     ],
+     [
+      1.35,
+      2.53
+     ],
+     [
+      -1.35,
+      2.53
+     ],
+     [
+      -1.35,
+      2.43
+     ],
+     [
+      -1.45,
+      2.33
+     ],
+     [
+      -1.85,
+      2.33
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41125731.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5b2a6c3d3bea99037d8f5091b15ec853b53572c
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41125731.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.24,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.09,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.21,
+       0.0
+      ],
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -3.06,
+      -1.04
+     ],
+     [
+      -2.96,
+      -1.04
+     ],
+     [
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+      -1.14
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+      -1.14
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+      -1.24
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+      -1.34
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+     [
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+      -2.54
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+      -2.64
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+      -2.64
+     ],
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+     ],
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+     ],
+     [
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+     ],
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+     ],
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+     ],
+     [
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+      -2.04
+     ],
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+      1.04,
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+     [
+      1.74,
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+     ],
+     [
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+     ],
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+      -1.44
+     ],
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+     ],
+     [
+      2.94,
+      -1.34
+     ],
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+      2.94,
+      1.36
+     ],
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+      2.84,
+      1.36
+     ],
+     [
+      2.74,
+      1.46
+     ],
+     [
+      2.74,
+      1.96
+     ],
+     [
+      2.64,
+      2.06
+     ],
+     [
+      2.64,
+      2.16
+     ],
+     [
+      -0.66,
+      2.16
+     ],
+     [
+      -0.66,
+      2.06
+     ],
+     [
+      -0.76,
+      1.96
+     ],
+     [
+      -1.56,
+      1.96
+     ],
+     [
+      -1.66,
+      1.86
+     ],
+     [
+      -2.16,
+      1.86
+     ],
+     [
+      -2.26,
+      1.76
+     ],
+     [
+      -2.86,
+      1.76
+     ],
+     [
+      -2.96,
+      1.66
+     ],
+     [
+      -3.06,
+      1.66
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41142280.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..55210474de8c7946dac8ff0a9f7820875442a0ec
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41142280.json	
@@ -0,0 +1,230 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
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+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.79,
+      -1.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.67,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 2.5
+   },
+   {
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+      0.46,
+      -0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
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+   }
+  ],
+  "toilet": [
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+      -0.18,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -0.68,
+      -1.27
+     ],
+     [
+      1.92,
+      -1.27
+     ],
+     [
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+     [
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+     ],
+     [
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+      1.33
+     ],
+     [
+      -0.68,
+      1.33
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41159541.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..a84e8cd241a89f9e6e83f97da1deef7eb9a3d9e7
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41159541.json	
@@ -0,0 +1,1036 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+     [
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41254432.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e57906ddf14bdf73cf1d50d7f015d5eaa721146
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/41254432.json	
@@ -0,0 +1,1021 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
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+      -0.41,
+      0.31
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+     "3D oriented bounding box dimensions": [
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+      1.54,
+      0.96
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+       0.0
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+      [
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+       0.0,
+       1.0
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+    "first visible time": 10.5
+   }
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+      -0.64,
+      0.36
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+      0.26,
+      0.48
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    "first visible time": 0.83
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+      1.68,
+      0.22
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+      0.41,
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+       0.0,
+       1.0
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+    "first visible time": 1.33
+   }
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+  "refrigerator": [
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+      1.68,
+      0.22
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+      0.41,
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+      [
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+       1.0
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42444976.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b2a464475ab395f65b02e29810ddacf5e4f2fe7
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42444976.json	
@@ -0,0 +1,636 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      -1.09,
+      -1.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.2,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      -2.17,
+      -2.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.27,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      -1.78,
+      -2.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.47,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.11,
+       0.0
+      ],
+      [
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.57,
+      0.61,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      1.31,
+      0.03,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      0.71,
+      -2.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.04,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.35,
+       0.0
+      ],
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      0.57,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.03,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.07,
+      0.46,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      0.03,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      1.11,
+      -1.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.04,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      -1.6,
+      -1.93
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.09,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.04,
+      -1.23,
+      4.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.09,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.3,
+       0.0
+      ],
+      [
+       0.3,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.58,
+      -0.08,
+      -2.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.64,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.98,
+      -2.32
+     ],
+     [
+      -1.88,
+      -2.32
+     ],
+     [
+      -1.78,
+      -2.42
+     ],
+     [
+      -1.58,
+      -2.42
+     ],
+     [
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+      -2.52
+     ],
+     [
+      -1.38,
+      -2.52
+     ],
+     [
+      -1.28,
+      -2.62
+     ],
+     [
+      -1.28,
+      -2.72
+     ],
+     [
+      1.32,
+      -2.72
+     ],
+     [
+      1.32,
+      -2.12
+     ],
+     [
+      1.42,
+      -2.02
+     ],
+     [
+      1.52,
+      -2.02
+     ],
+     [
+      1.52,
+      -1.22
+     ],
+     [
+      1.42,
+      -1.22
+     ],
+     [
+      1.32,
+      -1.12
+     ],
+     [
+      1.32,
+      -0.82
+     ],
+     [
+      1.42,
+      -0.72
+     ],
+     [
+      1.52,
+      -0.72
+     ],
+     [
+      1.52,
+      0.78
+     ],
+     [
+      1.42,
+      0.78
+     ],
+     [
+      1.32,
+      0.88
+     ],
+     [
+      1.22,
+      0.88
+     ],
+     [
+      1.12,
+      0.98
+     ],
+     [
+      1.02,
+      0.98
+     ],
+     [
+      0.92,
+      1.08
+     ],
+     [
+      0.92,
+      1.68
+     ],
+     [
+      -1.08,
+      1.68
+     ],
+     [
+      -1.08,
+      1.58
+     ],
+     [
+      -1.18,
+      1.48
+     ],
+     [
+      -1.18,
+      1.28
+     ],
+     [
+      -1.28,
+      1.18
+     ],
+     [
+      -1.28,
+      0.98
+     ],
+     [
+      -1.38,
+      0.88
+     ],
+     [
+      -1.38,
+      0.48
+     ],
+     [
+      -1.48,
+      0.38
+     ],
+     [
+      -1.48,
+      0.08
+     ],
+     [
+      -1.68,
+      -0.12
+     ],
+     [
+      -1.68,
+      -0.22
+     ],
+     [
+      -1.78,
+      -0.32
+     ],
+     [
+      -1.78,
+      -0.42
+     ],
+     [
+      -1.88,
+      -0.52
+     ],
+     [
+      -1.98,
+      -0.52
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42445026.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..18aefe45affd3318fe02c6aff94830f725b62b27
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42445026.json	
@@ -0,0 +1,438 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      -0.59,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.23,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      -1.31,
+      2.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.38,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      -0.01,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.27,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      -1.44,
+      1.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.47,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      -1.44,
+      1.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.45,
+      1.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.08,
+      0.05,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.52,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.47,
+      -1.91
+     ],
+     [
+      -1.27,
+      -1.91
+     ],
+     [
+      -1.17,
+      -2.01
+     ],
+     [
+      -1.17,
+      -2.11
+     ],
+     [
+      -0.87,
+      -2.11
+     ],
+     [
+      -0.77,
+      -2.21
+     ],
+     [
+      -0.57,
+      -2.21
+     ],
+     [
+      -0.47,
+      -2.31
+     ],
+     [
+      -0.47,
+      -2.41
+     ],
+     [
+      1.03,
+      -2.41
+     ],
+     [
+      1.03,
+      -2.21
+     ],
+     [
+      1.13,
+      -2.11
+     ],
+     [
+      1.13,
+      -2.01
+     ],
+     [
+      1.23,
+      -1.91
+     ],
+     [
+      1.23,
+      -1.81
+     ],
+     [
+      1.33,
+      -1.71
+     ],
+     [
+      1.33,
+      -1.61
+     ],
+     [
+      1.43,
+      -1.51
+     ],
+     [
+      1.53,
+      -1.51
+     ],
+     [
+      1.53,
+      1.29
+     ],
+     [
+      1.43,
+      1.29
+     ],
+     [
+      1.33,
+      1.39
+     ],
+     [
+      1.13,
+      1.39
+     ],
+     [
+      1.03,
+      1.49
+     ],
+     [
+      0.93,
+      1.49
+     ],
+     [
+      0.83,
+      1.59
+     ],
+     [
+      0.83,
+      1.69
+     ],
+     [
+      -1.07,
+      1.69
+     ],
+     [
+      -1.07,
+      1.59
+     ],
+     [
+      -1.27,
+      1.39
+     ],
+     [
+      -1.27,
+      0.99
+     ],
+     [
+      -1.37,
+      0.89
+     ],
+     [
+      -1.47,
+      0.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42445031.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..0841df9415b57e75d03e9c5dc45fdbd3f08bf05a
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42445031.json	
@@ -0,0 +1,496 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.6,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.28,
+      0.26
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+       0.0,
+       1.0
+      ]
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+   },
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+      -0.35,
+      0.32
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+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.51
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+       0.52,
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+       0.86,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
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+      -0.14
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+      0.19,
+      0.49
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+       0.34,
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+      ]
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+       1.0
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+     ],
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+       0.0,
+       1.0
+      ]
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+   }
+  ]
+ },
+ "room": {
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+     ],
+     [
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+     ],
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+     ],
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+     ],
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+     ],
+     [
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+     ],
+     [
+      -1.04,
+      1.26
+     ],
+     [
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+     ],
+     [
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+     [
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+     ],
+     [
+      -1.64,
+      0.76
+     ],
+     [
+      -1.94,
+      0.76
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42445981.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3195b1ab5001c40d5e9a8235054fa5dc1b1c4a
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42445981.json	
@@ -0,0 +1,800 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.53,
+      -0.1
+     ],
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+      0.31,
+      0.86
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+       1.0
+      ]
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+   },
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+      -0.15
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+   },
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+   },
+   {
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+      -2.56,
+      -0.04
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+      0.34,
+      0.89
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+     "3D oriented bounding box orientation unit vectors": [
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+      ]
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+   }
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+   }
+  ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   }
+  ],
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+      -2.2,
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+      ]
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+    "first visible time": 0.33
+   },
+   {
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+      -1.65,
+      -0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 8.67
+   },
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+    },
+    "first visible time": 2.33
+   }
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+  "tv": [
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+   }
+  ]
+ },
+ "room": {
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+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42446517.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..db294cd02f7cd76b3cdc507ccfa250a3e4d59cee
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42446517.json	
@@ -0,0 +1,466 @@
+{
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+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42446535.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dd856d445e43067166b50c7800e71c9409414fd
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42446535.json	
@@ -0,0 +1,292 @@
+{
+ "spatial code schema": {
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+   "<object class>": [
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+      "3D oriented bounding box center coordinates": {
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+        "y",
+        "height above floor"
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+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
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+         "height"
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+        [
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+         "y",
+         "height"
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+        [
+         "x",
+         "y",
+         "height"
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+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
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+       [
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+   }
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+ "room": {
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42897550.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fc1562d99978e4823f858548158c8ae6172372a
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42897550.json	
@@ -0,0 +1,314 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.05,
+      -0.1
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+     "3D oriented bounding box dimensions": [
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+      1.26,
+      0.45
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+   }
+  ],
+  "dishwasher": [
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+      0.1,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+    "first visible time": 3.0
+   }
+  ],
+  "toilet": [
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+      0.22,
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+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "washer": [
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+      -0.82,
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+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ]
+ },
+ "room": {
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+      -1.38
+     ],
+     [
+      1.02,
+      -1.38
+     ],
+     [
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+     ],
+     [
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+     ],
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+     ],
+     [
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+     ],
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+      -1.38
+     ],
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+     ],
+     [
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+      0.12
+     ],
+     [
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+      0.22
+     ],
+     [
+      1.42,
+      0.22
+     ],
+     [
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+      0.12
+     ],
+     [
+      1.12,
+      0.12
+     ],
+     [
+      1.02,
+      0.22
+     ],
+     [
+      1.02,
+      0.42
+     ],
+     [
+      0.92,
+      0.52
+     ],
+     [
+      0.92,
+      1.02
+     ],
+     [
+      -1.28,
+      1.02
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42897629.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2eba7715c6a35eb4917ece73675d927aba76fe2
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42897629.json	
@@ -0,0 +1,1220 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+     [
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42897692.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..761b6ffc5b130010a0790c2171f0482aecb567f2
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42897692.json	
@@ -0,0 +1,778 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   },
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+    "first visible time": 4.5
+   }
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+     [
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+     [
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+     ],
+     [
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+     [
+      -3.87,
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+     ],
+     [
+      -3.97,
+      -2.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42898486.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..0831e910be3081d812619b97eb5d6e70c2815600
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42898486.json	
@@ -0,0 +1,934 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
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+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
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+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
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+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
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+         "y"
+        ],
+        [
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+         "y"
+        ]
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+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+ },
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+     ],
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+     ],
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+     ],
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+      4.44
+     ],
+     [
+      -1.57,
+      4.24
+     ],
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+      -1.77,
+      4.04
+     ],
+     [
+      -1.77,
+      3.74
+     ],
+     [
+      -1.87,
+      3.64
+     ],
+     [
+      -1.87,
+      3.34
+     ],
+     [
+      -2.07,
+      3.14
+     ],
+     [
+      -2.27,
+      3.14
+     ],
+     [
+      -2.27,
+      3.04
+     ],
+     [
+      -2.37,
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+     [
+      -2.37,
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+     ],
+     [
+      -2.47,
+      2.04
+     ],
+     [
+      -2.57,
+      2.04
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42898826.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d9d0dff0fe43975635d10bed0651e99c963491
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42898826.json	
@@ -0,0 +1,298 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.99,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.02,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.67,
+       0.0
+      ],
+      [
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+       0.75,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
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+     "3D oriented bounding box orientation unit vectors": [
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+   }
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+      2.36,
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+     "3D oriented bounding box dimensions": [
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+      0.33,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      1.09
+     ],
+     [
+      -1.66,
+      1.09
+     ],
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+     ],
+     [
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+      1.59
+     ],
+     [
+      1.34,
+      1.69
+     ],
+     [
+      1.84,
+      1.69
+     ],
+     [
+      1.84,
+      3.69
+     ],
+     [
+      -1.36,
+      3.69
+     ],
+     [
+      -1.36,
+      3.59
+     ],
+     [
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+      3.49
+     ],
+     [
+      -1.96,
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+     ],
+     [
+      -2.06,
+      3.39
+     ],
+     [
+      -2.16,
+      3.39
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42899612.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c9023db270f0f066dfdf910ac21409ec9a9329b
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/42899612.json	
@@ -0,0 +1,660 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+      2.48,
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+       0.0,
+       1.0
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+     ],
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+     ],
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+      1.82
+     ],
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+      1.32
+     ],
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+      1.12
+     ],
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+      0.92
+     ],
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+     ],
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+     ],
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+     ],
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+      -0.72,
+      1.22
+     ],
+     [
+      -0.82,
+      1.32
+     ],
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+      -0.82,
+      1.62
+     ],
+     [
+      -1.02,
+      1.62
+     ],
+     [
+      -1.12,
+      1.72
+     ],
+     [
+      -1.12,
+      2.12
+     ],
+     [
+      -1.02,
+      2.22
+     ],
+     [
+      -1.02,
+      2.62
+     ],
+     [
+      -1.72,
+      2.62
+     ],
+     [
+      -1.72,
+      1.72
+     ],
+     [
+      -1.82,
+      1.62
+     ],
+     [
+      -1.92,
+      1.62
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/44358499.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..f00125c1024b23e24307ff77671fd88e60dc9edd
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/44358499.json	
@@ -0,0 +1,1132 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.45,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.89,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
+      ],
+      [
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+       -0.34,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 4.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      0.16,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.79,
+       0.0
+      ],
+      [
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+       0.61,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
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+      1.64,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
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+      ],
+      [
+       -0.89,
+       -0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.11,
+      1.61,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.23,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
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+      [
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+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.57,
+      0.83,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.48,
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+   }
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+  "dishwasher": [
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+      0.56
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
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+  "fireplace": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.99,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.2
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+   },
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+      -1.56,
+      0.56
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.89,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
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+      [
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+       0.1,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.61,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.75,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+    },
+    "first visible time": 1.17
+   }
+  ],
+  "stool": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      -3.06,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "stove": [
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+      4.28,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.02
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.43,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      1.47,
+      0.41,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.25,
+       0.0
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+      [
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.11,
+      0.12,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.67,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.38,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.71,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
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+      1.33,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
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+     "3D oriented bounding box center coordinates": [
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+      0.67,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.81,
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.93,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+       1.0
+      ]
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+   },
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+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -3.3,
+      -2.02
+     ],
+     [
+      -3.2,
+      -2.02
+     ],
+     [
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+      -2.32
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+      -2.82
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+     ],
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+     ],
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     [
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+     ],
+     [
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+      3.68
+     ],
+     [
+      1.0,
+      4.88
+     ],
+     [
+      0.9,
+      4.98
+     ],
+     [
+      0.9,
+      5.18
+     ],
+     [
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+      5.18
+     ],
+     [
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+     ],
+     [
+      0.4,
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
+      -2.6,
+      5.38
+     ],
+     [
+      -2.7,
+      5.28
+     ],
+     [
+      -2.7,
+      4.78
+     ],
+     [
+      -2.8,
+      4.68
+     ],
+     [
+      -2.8,
+      3.28
+     ],
+     [
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+      3.18
+     ],
+     [
+      -2.5,
+      3.18
+     ],
+     [
+      -2.4,
+      3.08
+     ],
+     [
+      -2.4,
+      2.68
+     ],
+     [
+      -2.5,
+      2.58
+     ],
+     [
+      -2.5,
+      2.18
+     ],
+     [
+      -2.6,
+      2.08
+     ],
+     [
+      -3.0,
+      2.08
+     ],
+     [
+      -3.1,
+      1.98
+     ],
+     [
+      -3.1,
+      1.78
+     ],
+     [
+      -3.2,
+      1.68
+     ],
+     [
+      -3.3,
+      1.68
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45260856.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..e53bb80a3b35112f04f9a10d9dcb0335e3645cf9
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45260856.json	
@@ -0,0 +1,764 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      1.3,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      1.93,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.4,
+      1.98,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.89,
+      0.3,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       -0.53,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.53,
+      0.72,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.43,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       0.55,
+       0.0
+      ],
+      [
+       -0.55,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      3.38,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.89,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+      [
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+       1.0
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+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.16,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.77,
+      0.53
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.74,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.57
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "fireplace": [
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+    "3D oriented bounding box": {
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+      3.19,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.15,
+      0.63
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+      [
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+       0.0,
+       1.0
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+    },
+    "first visible time": 3.5
+   }
+  ],
+  "stool": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.66,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.54,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.99,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.32,
+       0.0
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+       0.95,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ]
+ },
+ "room": {
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+   {
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+      2.49
+     ],
+     [
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+     ],
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+     ],
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+     ],
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+     ],
+     [
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+     ],
+     [
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+     ],
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+     ],
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      2.79
+     ],
+     [
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+      3.09
+     ],
+     [
+      -1.63,
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+     ],
+     [
+      -2.63,
+      3.69
+     ],
+     [
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+     ],
+     [
+      -2.93,
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+     ],
+     [
+      -3.13,
+      3.39
+     ],
+     [
+      -3.23,
+      3.39
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45261150.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..019b9232a38d5ec7f848365d51260e58ec9252c7
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45261150.json	
@@ -0,0 +1,613 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.66,
+      1.81,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      1.88,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.81,
+       0.59,
+       0.0
+      ],
+      [
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+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.18,
+      2.72,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      1.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
+       0.0
+      ],
+      [
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+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.25,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.46,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.59,
+       0.0
+      ],
+      [
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+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.7,
+      1.93,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.5,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.02,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.17,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -3.43,
+      1.26
+     ],
+     [
+      -3.33,
+      1.26
+     ],
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+    "interior hole boundary coordinates": [
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+      [
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+       0.66
+      ],
+      [
+       1.27,
+       0.36
+      ],
+      [
+       1.17,
+       0.26
+      ]
+     ]
+    ]
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45261182.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a2389ca87ef3e003bbfc84b516d268c06e08ea3
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45261182.json	
@@ -0,0 +1,466 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.84,
+      0.29,
+      -0.6
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
+       0.0
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+       0.36,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
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+    "first visible time": 6.0
+   }
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+      -1.94,
+      -1.4
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+     "3D oriented bounding box dimensions": [
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+      0.61,
+      0.6
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.77,
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+       0.0
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+       0.0,
+       1.0
+      ]
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+      0.4,
+      0.06
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+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.32
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+       0.0,
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+   }
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+     ],
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+     ],
+     [
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+      -0.51
+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      -1.01
+     ],
+     [
+      -0.02,
+      -1.21
+     ],
+     [
+      -0.12,
+      -1.31
+     ],
+     [
+      -0.12,
+      -1.41
+     ],
+     [
+      -0.22,
+      -1.51
+     ],
+     [
+      -0.22,
+      -1.61
+     ],
+     [
+      -0.32,
+      -1.71
+     ],
+     [
+      -0.52,
+      -1.71
+     ],
+     [
+      -0.52,
+      -2.21
+     ],
+     [
+      -0.62,
+      -2.31
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45662970.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..61faf0442bf3d7be4a9f4ce4a83c2bc83a7dee27
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45662970.json	
@@ -0,0 +1,352 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.71,
+      -0.49,
+      -0.72
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.32,
+       0.0
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+       0.95,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
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+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
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+      -1.44,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
+       0.0
+      ],
+      [
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+       0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
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+      -0.6,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0
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+       0.0,
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+      ]
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+    },
+    "first visible time": 5.67
+   },
+   {
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+      -1.48,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.94,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
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+      -2.66
+     ],
+     [
+      -0.67,
+      -2.66
+     ],
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+     ],
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+      0.84
+     ],
+     [
+      1.43,
+      1.24
+     ],
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+      0.63,
+      1.24
+     ],
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+      0.63,
+      1.14
+     ],
+     [
+      0.53,
+      1.04
+     ],
+     [
+      0.33,
+      1.04
+     ],
+     [
+      0.23,
+      1.14
+     ],
+     [
+      0.23,
+      1.24
+     ],
+     [
+      -0.57,
+      1.24
+     ],
+     [
+      -0.57,
+      0.44
+     ],
+     [
+      -0.67,
+      0.34
+     ],
+     [
+      -0.77,
+      0.34
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45662987.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..72399a88f8b990f17dd8409280f4778aa417a8ef
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45662987.json	
@@ -0,0 +1,580 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.54,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.79,
+      -0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.4,
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
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+      0.82,
+      -1.9
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.38,
+       0.0
+      ],
+      [
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+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.35,
+      0.83,
+      -1.93
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.37,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.4,
+       0.0
+      ],
+      [
+       -0.4,
+       0.92,
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45663114.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..b553b0f3a287ac5733130f47bb3a85fcd7143b20
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/45663114.json	
@@ -0,0 +1,410 @@
+{
+ "spatial code schema": {
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+      "3D oriented bounding box center coordinates": {
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+        [
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+         "height"
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+        [
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+         "y",
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+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+      "description": "earliest time at which this object instance is visibly observed"
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+      "description": "ordered vertices enclosing one floor region"
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+        [
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+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47115460.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..91ea7ace6d3b3d8a6ebda2ecc240cbbc47572d64
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47115460.json	
@@ -0,0 +1,614 @@
+{
+ "spatial code schema": {
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+   "<object class>": [
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+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+        "dimension 2",
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+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+        [
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+      "description": "earliest time at which this object instance is visibly observed"
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+        [
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+     [
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+      2.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47115525.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94a604d0d35bbd8a4ad63d7eda500981748b415
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47115525.json	
@@ -0,0 +1,568 @@
+{
+ "spatial code schema": {
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+      "3D oriented bounding box center coordinates": {
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+        "y",
+        "height above floor"
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+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
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+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+        [
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+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+     "first visible time": {
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+      "description": "earliest time at which this object instance is visibly observed"
+     }
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+       [
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+        "y"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
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+         "y"
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+        [
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+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+     ],
+     [
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47204566.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a60920b7e8db344aa82ec9152c0d2632d417992
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47204566.json	
@@ -0,0 +1,220 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      0.68,
+      -0.05
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+  ],
+  "toilet": [
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+      0.75,
+      0.46
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+      0.55,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+    "first visible time": 2.17
+   }
+  ],
+  "tv": [
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+      0.12,
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+      0.21
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
+    "first visible time": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.36
+     ],
+     [
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+      -1.36
+     ],
+     [
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+      1.54
+     ],
+     [
+      -2.19,
+      1.54
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47204578.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bafd7cd2fa411eb42edb24350d9c33c0e4e41cf
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47204578.json	
@@ -0,0 +1,886 @@
+{
+ "spatial code schema": {
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+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+         "y",
+         "height"
+        ],
+        [
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+         "y",
+         "height"
+        ],
+        [
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+         "y",
+         "height"
+        ]
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
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+        "y"
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+        [
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+         "y"
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+        [
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+         "y"
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+     ],
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+     ],
+     [
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+      2.73
+     ],
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+      2.63
+     ],
+     [
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+      2.53
+     ],
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+      -1.9,
+      2.43
+     ],
+     [
+      -1.9,
+      2.23
+     ],
+     [
+      -2.0,
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+     ],
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+      1.83
+     ],
+     [
+      -2.1,
+      1.73
+     ],
+     [
+      -2.2,
+      1.73
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47204607.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c0c303aa1fe77a8c4cc2f023211fde47f45d483
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47204607.json	
@@ -0,0 +1,846 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      0.07,
+      -0.04
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+      0.37
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+   }
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+     "3D oriented bounding box dimensions": [
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+      1.07,
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+     "3D oriented bounding box dimensions": [
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+      0.29,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
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+       0.0,
+       1.0
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+    },
+    "first visible time": 6.67
+   },
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+      -0.12
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
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+      -0.72,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.77,
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+   },
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+      -0.14
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+     "3D oriented bounding box dimensions": [
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+      0.41,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+      0.9,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.68,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 6.83
+   }
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.66,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.95,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.64,
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+       0.77,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
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+   {
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+     "3D oriented bounding box center coordinates": [
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+      -0.52,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.1,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -5.03,
+      -1.14
+     ],
+     [
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+      -1.14
+     ],
+     [
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+     [
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+     [
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+     ],
+     [
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+     [
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+     [
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+     [
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+     [
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+     ],
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+     ],
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+      1.36
+     ],
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+      1.46
+     ],
+     [
+      0.57,
+      1.66
+     ],
+     [
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+      1.76
+     ],
+     [
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+      1.96
+     ],
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+      2.06
+     ],
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+      2.46
+     ],
+     [
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+     ],
+     [
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+     ],
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+     ],
+     [
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+     ],
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+     ],
+     [
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+      2.16
+     ],
+     [
+      -1.93,
+      2.06
+     ],
+     [
+      -2.23,
+      2.06
+     ],
+     [
+      -2.43,
+      2.26
+     ],
+     [
+      -2.43,
+      2.46
+     ],
+     [
+      -3.43,
+      2.46
+     ],
+     [
+      -3.43,
+      2.36
+     ],
+     [
+      -3.53,
+      2.26
+     ],
+     [
+      -3.83,
+      2.26
+     ],
+     [
+      -3.93,
+      2.16
+     ],
+     [
+      -4.03,
+      2.16
+     ],
+     [
+      -4.03,
+      1.46
+     ],
+     [
+      -4.13,
+      1.36
+     ],
+     [
+      -4.43,
+      1.36
+     ],
+     [
+      -4.53,
+      1.26
+     ],
+     [
+      -4.73,
+      1.26
+     ],
+     [
+      -4.83,
+      1.16
+     ],
+     [
+      -5.03,
+      1.16
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47331063.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..2587c90749608cc0124f61a47dcb508baf7b4d60
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47331063.json	
@@ -0,0 +1,588 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.91,
+      -0.44,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.22,
+      0.59,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      -1.03,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.38,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.58,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.32,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.49,
+       0.0
+      ],
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.7,
+      -0.11,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.22,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      -1.23,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.02,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.82,
+      -1.78,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.13,
+      1.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.01,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.28,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.01,
+      -1.3,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      -1.91,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      -2.14,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.05,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
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+      -2.52
+     ],
+     [
+      -1.61,
+      -2.52
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+     ],
+     [
+      -1.71,
+      0.38
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47331654.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..d711ecd4b75ca99ffcc0d44f3e6937ed9880d930
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47331654.json	
@@ -0,0 +1,600 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
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+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+     ],
+     [
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+      2.5
+     ],
+     [
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+      2.5
+     ],
+     [
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+      1.4
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+      0.9
+     ],
+     [
+      -0.59,
+      0.9
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47331990.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c4bb8488f2d80ba8283836eaafa1893bca9f0e4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47331990.json	
@@ -0,0 +1,364 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.99,
+      -1.59
+     ],
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+      0.35,
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+      0.26,
+      0.07
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+       0.0,
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+      -0.99,
+      0.14
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+      0.7,
+      0.31
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 9.33
+   }
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+      -1.2,
+      -3.18
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.12
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.54,
+      -1.8
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+      [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.67
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
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+      -0.99,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.72,
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+   },
+   {
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.18,
+      -2.77
+     ],
+     [
+      1.62,
+      -2.77
+     ],
+     [
+      1.62,
+      0.83
+     ],
+     [
+      -0.78,
+      0.83
+     ],
+     [
+      -0.78,
+      0.73
+     ],
+     [
+      -0.88,
+      0.63
+     ],
+     [
+      -1.18,
+      0.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47332005.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f5e05fa4f8695e78e229119d1c6207848608924
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47332005.json	
@@ -0,0 +1,621 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
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+      -2.97,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.72
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+      ]
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+      -4.82,
+      0.89
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+      0.49,
+      0.28
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
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+      -0.54,
+      0.01
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+       0.0,
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+    "first visible time": 10.5
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+      0.53
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+ },
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+     [
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
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+      0.46
+     ],
+     [
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+     ],
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+      2.03,
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+     ],
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+      2.23,
+      1.46
+     ],
+     [
+      2.33,
+      1.46
+     ],
+     [
+      2.33,
+      2.06
+     ],
+     [
+      1.93,
+      2.06
+     ],
+     [
+      1.83,
+      1.96
+     ],
+     [
+      1.73,
+      1.96
+     ],
+     [
+      1.53,
+      1.76
+     ],
+     [
+      1.33,
+      1.76
+     ],
+     [
+      1.23,
+      1.86
+     ],
+     [
+      1.23,
+      1.96
+     ],
+     [
+      1.13,
+      2.06
+     ],
+     [
+      1.13,
+      2.46
+     ],
+     [
+      -1.07,
+      2.46
+     ],
+     [
+      -1.07,
+      2.26
+     ],
+     [
+      -1.27,
+      2.06
+     ],
+     [
+      -1.57,
+      2.06
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47332899.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..b33232d704cd08550be0af567a86598459e1bb73
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47332899.json	
@@ -0,0 +1,578 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.61,
+      0.47,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      2.03,
+      0.53,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.38,
+       0.0
+      ],
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
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+      0.54,
+      0.13
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+      0.75,
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 0.33
+   }
+  ],
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+      -0.54,
+      -0.07
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+      0.34
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 0.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
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+      -0.81,
+      -0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.17,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.44,
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+      ],
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 5.33
+   }
+  ],
+  "tv": [
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+      -1.48,
+      0.22
+     ],
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+      0.04,
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+     "3D oriented bounding box orientation unit vectors": [
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+      ]
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+    },
+    "first visible time": 5.83
+   }
+  ]
+ },
+ "room": {
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47332901.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e7c19525605a39568c91421aa80a00402ee3631
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47332901.json	
@@ -0,0 +1,484 @@
+{
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+        [
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+         "height"
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+      "description": "earliest time at which this object instance is visibly observed"
+     }
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47333436.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..97e807a12d3638df15224052b8829eff4779f3be
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47333436.json	
@@ -0,0 +1,586 @@
+{
+ "spatial code schema": {
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+       "unit": "meters",
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+        [
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+        [
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+         "y",
+         "height"
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+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+      "description": "earliest time at which this object instance is visibly observed"
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+       [
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
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+      "unit": "meters",
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+     [
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+     [
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+     ],
+     [
+      -4.2,
+      0.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47334238.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd377ae3427b92434878a099e704c12016569473
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47334238.json	
@@ -0,0 +1,646 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+     [
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+      -2.02
+     ],
+     [
+      -1.56,
+      -3.42
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+     [
+      -1.46,
+      -3.42
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+     [
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+     [
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+     [
+      -1.46,
+      -3.82
+     ],
+     [
+      -1.56,
+      -3.82
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47334362.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..537bc8656e9ee8aad248391ac318b66a975a0585
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/47334362.json	
@@ -0,0 +1,1134 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
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+      -2.75,
+      0.46
+     ],
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+      1.82,
+      0.4
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+       1.0
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+   },
+   {
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+      -1.2,
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+      0.55,
+      0.46
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+       0.0,
+       1.0
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+   },
+   {
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+      0.17,
+      0.48
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+       0.38,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
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+    "first visible time": 8.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.6,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.52,
+       0.0
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+      [
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      -2.54,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
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+    "first visible time": 5.83
+   }
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+  "sofa": [
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+      -2.05,
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+     "3D oriented bounding box dimensions": [
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+      0.74,
+      0.51
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 7.33
+   },
+   {
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+      -3.1,
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+    "first visible time": 7.17
+   }
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+ },
+ "room": {
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+      0.81
+     ],
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+      0.91
+     ],
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+     ],
+     [
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+      1.21
+     ],
+     [
+      0.01,
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+     ],
+     [
+      -0.89,
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+     ],
+     [
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+     ],
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+     ],
+     [
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+     ],
+     [
+      -1.19,
+      0.91
+     ],
+     [
+      -1.29,
+      0.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/5942004064.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..b25c38c99cadec098d15e0f3b4db053bfb556585
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/5942004064.json	
@@ -0,0 +1,1894 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      1.56,
+      1.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.18,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.46,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.3,
+      1.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.26,
+       0.0
+      ],
+      [
+       0.26,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.55,
+      2.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.22,
+      1.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.01,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.14,
+      1.4,
+      1.64
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      0.26,
+      1.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.24,
+       0.0
+      ],
+      [
+       0.24,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.78,
+      1.29,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      0.03,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   }
+  ],
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+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.05,
+      1.36,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.77,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.51,
+      1.56,
+      -0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.07,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.52,
+       0.0
+      ],
+      [
+       -0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.87,
+      1.22,
+      -0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.06,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.27,
+      1.56,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      2.46,
+      0.47,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.3,
+      1.68,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.96,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.52,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.51,
+      1.31,
+      2.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.03,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "table lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.48,
+      0.91,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.36,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.26,
+       0.0
+      ],
+      [
+       -0.26,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.85,
+      0.43,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.1,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      0.88,
+      2.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.24,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      1.21,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.15,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      1.13,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      1.0,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      1.57,
+      1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.04,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.29,
+      1.04,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.89,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -6.14,
+      -0.44
+     ],
+     [
+      -5.84,
+      -0.44
+     ],
+     [
+      -5.74,
+      -0.54
+     ],
+     [
+      -4.84,
+      -0.54
+     ],
+     [
+      -4.74,
+      -0.64
+     ],
+     [
+      -4.44,
+      -0.64
+     ],
+     [
+      -4.34,
+      -0.74
+     ],
+     [
+      -3.04,
+      -0.74
+     ],
+     [
+      -2.94,
+      -0.84
+     ],
+     [
+      -2.94,
+      -0.94
+     ],
+     [
+      1.56,
+      -0.94
+     ],
+     [
+      1.56,
+      1.66
+     ],
+     [
+      1.46,
+      1.66
+     ],
+     [
+      1.36,
+      1.76
+     ],
+     [
+      0.96,
+      1.76
+     ],
+     [
+      0.86,
+      1.86
+     ],
+     [
+      -0.54,
+      1.86
+     ],
+     [
+      -0.64,
+      1.96
+     ],
+     [
+      -1.24,
+      1.96
+     ],
+     [
+      -1.34,
+      2.06
+     ],
+     [
+      -1.44,
+      2.06
+     ],
+     [
+      -1.54,
+      2.16
+     ],
+     [
+      -2.24,
+      2.16
+     ],
+     [
+      -2.34,
+      2.26
+     ],
+     [
+      -3.14,
+      2.26
+     ],
+     [
+      -3.24,
+      2.36
+     ],
+     [
+      -3.24,
+      2.46
+     ],
+     [
+      -6.14,
+      2.46
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/7831862f02.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..b99c28ab65f4ed2d55b65ca3b83294ba2717e398
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/7831862f02.json	
@@ -0,0 +1,3265 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.87,
+      2.81,
+      2.46
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      2.3,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.31,
+      2.3,
+      1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      2.59,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      0.23,
+      1.82
+     ],
+     "3D oriented bounding box dimensions": [
+      1.77,
+      1.01,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.14,
+      4.57,
+      2.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.8,
+      0.37,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       0.58,
+       0.0
+      ],
+      [
+       -0.58,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      2.51,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.94,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.15,
+      0.68,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.62,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.55,
+      3.65,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.63,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.43,
+      4.41,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.48,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.31,
+      5.12,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.51,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.55,
+      5.45,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      0.69,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.37,
+       0.0
+      ],
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.78,
+      7.89,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.47,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -6.47,
+      9.95,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.94,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      11.61,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.43,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.48,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/7bc286c1b6.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/7bc286c1b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d50f59d00d7d470c4b8fc998bf23a023da2c53f
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/7bc286c1b6.json	
@@ -0,0 +1,432 @@
+{
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+        "dimension 2",
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+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/99fa5c25e1.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/99fa5c25e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfb44bd0d37ad9012209d0c43ee130ac23eec181
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/99fa5c25e1.json	
@@ -0,0 +1,2907 @@
+{
+ "spatial code schema": {
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+        "dimension 1",
+        "dimension 2",
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+        [
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+         "height"
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+      "description": "earliest time at which this object instance is visibly observed"
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+    }
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+       [
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+     ],
+     [
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+     ]
+    ],
+    "interior hole boundary coordinates": [
+     [
+      [
+       2.61,
+       -2.14
+      ],
+      [
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+       -2.04
+      ],
+      [
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+      ],
+      [
+       2.71,
+       -2.54
+      ],
+      [
+       2.71,
+       -2.14
+      ]
+     ]
+    ]
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/a980334473.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/a980334473.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef86775de11933b03d4f7a7feef9d9224c5b17b6
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/a980334473.json	
@@ -0,0 +1,610 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+      -0.45,
+      0.38
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+       1.0
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+   }
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+   }
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+      0.5
+     ],
+     [
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+     ],
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+     ],
+     [
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+     ],
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+      0.9
+     ],
+     [
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+     ],
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+     ],
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+     ],
+     [
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+      1.2
+     ],
+     [
+      -0.65,
+      1.1
+     ],
+     [
+      -0.95,
+      1.1
+     ],
+     [
+      -1.05,
+      1.0
+     ],
+     [
+      -1.15,
+      1.0
+     ],
+     [
+      -1.25,
+      0.9
+     ],
+     [
+      -1.35,
+      0.9
+     ],
+     [
+      -1.55,
+      0.7
+     ],
+     [
+      -1.65,
+      0.7
+     ],
+     [
+      -1.75,
+      0.6
+     ],
+     [
+      -1.85,
+      0.6
+     ],
+     [
+      -1.95,
+      0.5
+     ],
+     [
+      -2.05,
+      0.5
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/bde1e479ad.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/bde1e479ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bb6cb1ea9f3918f1684df8bc79cb19e32ea89cc
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/bde1e479ad.json	
@@ -0,0 +1,1116 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.72,
+      2.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      1.31,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.27,
+       0.0
+      ],
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+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.17,
+      2.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
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+      4.19,
+      2.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.22,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+     "3D oriented bounding box dimensions": [
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+   }
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+     ],
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+      0.0
+     ],
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+      -0.91,
+      -0.45
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+     ],
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+      4.59,
+      0.33
+     ],
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+       0.0,
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+       0.0,
+       1.0
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+   },
+   {
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+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
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+       0.0,
+       1.0
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+    },
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+   },
+   {
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+      4.06,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   },
+   {
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+      3.94,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
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+       -0.27,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.82,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.11,
+      3.7,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.04,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.26,
+      -2.16
+     ],
+     [
+      5.14,
+      -2.16
+     ],
+     [
+      5.14,
+      -2.06
+     ],
+     [
+      5.34,
+      -1.86
+     ],
+     [
+      5.44,
+      -1.86
+     ],
+     [
+      5.44,
+      -1.26
+     ],
+     [
+      5.34,
+      -1.26
+     ],
+     [
+      5.24,
+      -1.16
+     ],
+     [
+      5.24,
+      -0.66
+     ],
+     [
+      5.34,
+      -0.56
+     ],
+     [
+      5.44,
+      -0.56
+     ],
+     [
+      5.44,
+      5.24
+     ],
+     [
+      5.34,
+      5.24
+     ],
+     [
+      5.24,
+      5.34
+     ],
+     [
+      5.24,
+      5.44
+     ],
+     [
+      -2.26,
+      5.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/e398684d27.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/e398684d27.json
new file mode 100644
index 0000000000000000000000000000000000000000..c37a125689751551843634167c8447213572397b
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/e398684d27.json	
@@ -0,0 +1,710 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      -1.36,
+      -1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.03,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.2,
+      -1.45,
+      -1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.02,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.86,
+      1.31,
+      -1.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.09,
+      1.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      -1.36,
+      -1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.03,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.2,
+      -1.45,
+      -1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.02,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.44,
+      -0.61,
+      -1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      1.3,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.01,
+      -0.46,
+      -2.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.52,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      0.92,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.03,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "paper bag": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      0.59,
+      -1.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.14,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.48,
+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.61,
+      -0.24,
+      -1.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.02,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      0.94,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.09,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      -0.63,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.3,
+      0.72,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.2,
+      0.19
+     ],
+     [
+      -2.1,
+      0.19
+     ],
+     [
+      -2.0,
+      0.09
+     ],
+     [
+      -2.0,
+      -0.01
+     ],
+     [
+      -1.5,
+      -0.51
+     ],
+     [
+      -1.5,
+      -0.61
+     ],
+     [
+      -1.4,
+      -0.71
+     ],
+     [
+      -1.3,
+      -0.71
+     ],
+     [
+      -1.2,
+      -0.81
+     ],
+     [
+      -1.1,
+      -0.81
+     ],
+     [
+      -0.8,
+      -1.11
+     ],
+     [
+      -0.8,
+      -1.21
+     ],
+     [
+      -0.7,
+      -1.31
+     ],
+     [
+      -0.7,
+      -1.41
+     ],
+     [
+      -0.2,
+      -1.91
+     ],
+     [
+      -0.2,
+      -2.01
+     ],
+     [
+      1.1,
+      -2.01
+     ],
+     [
+      1.1,
+      -1.91
+     ],
+     [
+      1.3,
+      -1.71
+     ],
+     [
+      1.4,
+      -1.71
+     ],
+     [
+      1.5,
+      -1.61
+     ],
+     [
+      1.5,
+      -1.51
+     ],
+     [
+      1.6,
+      -1.41
+     ],
+     [
+      1.7,
+      -1.41
+     ],
+     [
+      1.8,
+      -1.31
+     ],
+     [
+      1.9,
+      -1.31
+     ],
+     [
+      1.9,
+      -0.31
+     ],
+     [
+      1.8,
+      -0.31
+     ],
+     [
+      1.6,
+      -0.11
+     ],
+     [
+      1.6,
+      -0.01
+     ],
+     [
+      1.4,
+      0.19
+     ],
+     [
+      1.4,
+      0.29
+     ],
+     [
+      1.2,
+      0.49
+     ],
+     [
+      1.2,
+      0.69
+     ],
+     [
+      1.3,
+      0.79
+     ],
+     [
+      1.3,
+      1.29
+     ],
+     [
+      1.1,
+      1.49
+     ],
+     [
+      1.0,
+      1.49
+     ],
+     [
+      0.5,
+      1.99
+     ],
+     [
+      0.5,
+      2.09
+     ],
+     [
+      0.1,
+      2.49
+     ],
+     [
+      0.1,
+      2.59
+     ],
+     [
+      -0.9,
+      2.59
+     ],
+     [
+      -0.9,
+      2.49
+     ],
+     [
+      -1.0,
+      2.39
+     ],
+     [
+      -1.0,
+      2.29
+     ],
+     [
+      -1.1,
+      2.19
+     ],
+     [
+      -1.3,
+      2.19
+     ],
+     [
+      -1.6,
+      1.89
+     ],
+     [
+      -1.7,
+      1.89
+     ],
+     [
+      -2.1,
+      1.49
+     ],
+     [
+      -2.2,
+      1.49
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/f9f95681fd.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/f9f95681fd.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d886bd818d92c2991954ccbc411f1620114756f
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/f9f95681fd.json	
@@ -0,0 +1,956 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.78,
+      -1.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.07,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.58,
+      0.9,
+      -1.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.05,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "bowl": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      1.04,
+      -1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.06,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.73,
+      -1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.06,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.24,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.5,
+      0.38,
+      -0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      0.04,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      1.02,
+      -1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.01,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.73,
+      -1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.06,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      0.2,
+      -1.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.08,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      0.85,
+      -0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.31,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      0.3,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      1.14,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       -0.55,
+       0.0
+      ],
+      [
+       0.55,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.17,
+      0.15,
+      -1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.1,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.74,
+      0.15,
+      -0.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.19,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      1.21,
+      -1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.01,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      -0.68,
+      -0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.18,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.59,
+      -0.06,
+      -0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.05,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      0.52,
+      -1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.1,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.55,
+       0.0
+      ],
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      0.94,
+      -1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.2,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.56,
+      -0.85,
+      -0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.23,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      1.04,
+      -1.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.06,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      -0.68,
+      -0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.04,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.26,
+       0.0
+      ],
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.99,
+      0.34,
+      -1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.03,
+      1.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.57,
+      -0.24,
+      -1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.34,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.23,
+      -0.22,
+      -1.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.27,
+      0.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.86,
+      -0.87
+     ],
+     [
+      -0.46,
+      -0.87
+     ],
+     [
+      -0.36,
+      -0.97
+     ],
+     [
+      -0.16,
+      -0.97
+     ],
+     [
+      -0.06,
+      -1.07
+     ],
+     [
+      -0.06,
+      -1.27
+     ],
+     [
+      1.54,
+      -1.27
+     ],
+     [
+      1.54,
+      -1.17
+     ],
+     [
+      1.64,
+      -1.07
+     ],
+     [
+      1.74,
+      -1.07
+     ],
+     [
+      1.84,
+      -0.97
+     ],
+     [
+      1.94,
+      -0.97
+     ],
+     [
+      1.94,
+      1.13
+     ],
+     [
+      1.84,
+      1.13
+     ],
+     [
+      1.74,
+      1.23
+     ],
+     [
+      1.44,
+      1.23
+     ],
+     [
+      1.34,
+      1.33
+     ],
+     [
+      1.34,
+      1.53
+     ],
+     [
+      -0.66,
+      1.53
+     ],
+     [
+      -0.66,
+      1.13
+     ],
+     [
+      -0.76,
+      1.03
+     ],
+     [
+      -0.86,
+      1.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/fb5a96b1a2.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/fb5a96b1a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..28de247cae5562da00822131b4d0adc0b8fb1c24
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/fb5a96b1a2.json	
@@ -0,0 +1,2446 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.49,
+      -0.91,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.37,
+      1.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.32,
+       0.0
+      ],
+      [
+       0.32,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.48,
+      1.77,
+      1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.4,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.49,
+      -0.28,
+      1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.15,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.86,
+      4.34,
+      1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.08,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.71,
+      1.09,
+      1.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.14,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.31,
+      2.8,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.04,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.89,
+      2.27,
+      1.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.51,
+      -0.57,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.46,
+       0.0
+      ],
+      [
+       0.46,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.4,
+      1.14,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.72,
+      -0.06,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.03,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.94,
+      2.38,
+      1.72
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.39,
+      2.57,
+      1.59
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.0,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.43,
+      3.34,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.06,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.33,
+       0.0
+      ],
+      [
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+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.54,
+      4.41,
+      1.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.14,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.54,
+      -0.34,
+      1.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.01,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.3,
+      0.86,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.01,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+     ],
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box dimensions": [
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+    },
+    "first visible time": 7.5
+   }
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+ },
+ "room": {
+  "floor boundary polygons": [
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+      0.5
+     ],
+     [
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+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      4.9
+     ],
+     [
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+      4.9
+     ],
+     [
+      -2.83,
+      4.5
+     ],
+     [
+      -2.93,
+      4.5
+     ],
+     [
+      -3.13,
+      4.3
+     ],
+     [
+      -3.13,
+      4.2
+     ],
+     [
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+      4.0
+     ],
+     [
+      -3.33,
+      3.9
+     ],
+     [
+      -3.43,
+      3.8
+     ],
+     [
+      -3.43,
+      3.6
+     ],
+     [
+      -3.53,
+      3.5
+     ],
+     [
+      -3.53,
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+     ],
+     [
+      -3.63,
+      3.2
+     ],
+     [
+      -3.73,
+      3.2
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0030_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0030_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..791e556002661ea9c16a751e9cb54ea99ed1a956
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0030_02.json	
@@ -0,0 +1,1656 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.59,
+      3.22,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.27,
+      1.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       0.58,
+       0.0
+      ],
+      [
+       -0.58,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      2.24,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.08,
+      1.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.56,
+       0.0
+      ],
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.69,
+      1.8,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.14,
+      1.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       0.58,
+       0.0
+      ],
+      [
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+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.1,
+      4.48,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.21,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.51,
+       0.0
+      ],
+      [
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+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.72,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.25,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.6,
+       0.0
+      ],
+      [
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+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.13,
+      1.03,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.31,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.51,
+       0.0
+      ],
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.5,
+      1.05,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.5,
+      0.88,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.35,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       -0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      2.72,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.36,
+       0.0
+      ],
+      [
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+      ],
+      [
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+     [
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+     ],
+     [
+      -2.29,
+      2.05
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0095_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0095_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..21d59c8ca9fc437f584e622ef0c5a420a17b7ede
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0095_01.json	
@@ -0,0 +1,1718 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      3.77,
+      -0.11
+     ],
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+      0.27,
+      0.71
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+       1.0
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+   },
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+      0.42,
+      -0.23
+     ],
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+      0.37,
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+       1.0
+      ]
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+   },
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+    "first visible time": 7.0
+   },
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+     ],
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+   },
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+   },
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+      3.68,
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+   }
+  ],
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+     ],
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+      ]
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+    "first visible time": 2.17
+   }
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+      -1.2,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
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+      2.62,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
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+     ],
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+   },
+   {
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+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.33
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+     "3D oriented bounding box orientation unit vectors": [
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+      ]
+     ]
+    },
+    "first visible time": 9.17
+   },
+   {
+    "3D oriented bounding box": {
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+     ],
+     "3D oriented bounding box dimensions": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 3.5
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.67,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+      ]
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+    },
+    "first visible time": 1.0
+   },
+   {
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0,
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+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.18,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.03,
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+       0.0,
+       1.0
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+    },
+    "first visible time": 0.83
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.4,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 0.67
+   }
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+  "sofa": [
+   {
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+      -1.25,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+      ]
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+    },
+    "first visible time": 4.0
+   }
+  ],
+  "table": [
+   {
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+      2.33,
+      -0.01
+     ],
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+      0.65,
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.5,
+      1.03,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.62,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.32,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.52,
+      -0.12,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
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+       0.0
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.1,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.1,
+      0.12
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
+   {
+    "3D oriented bounding box": {
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+      3.26,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.0,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.26,
+      -1.15
+     ],
+     [
+      -0.96,
+      -1.15
+     ],
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+     ],
+     [
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+      2.85
+     ],
+     [
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+      2.75
+     ],
+     [
+      -0.66,
+      2.35
+     ],
+     [
+      -0.76,
+      2.25
+     ],
+     [
+      -0.76,
+      2.05
+     ],
+     [
+      -0.86,
+      1.95
+     ],
+     [
+      -0.86,
+      1.75
+     ],
+     [
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+     ],
+     [
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+     [
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+     [
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+     ],
+     [
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+     ],
+     [
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+      0.45
+     ],
+     [
+      -0.76,
+      0.25
+     ],
+     [
+      -0.76,
+      0.15
+     ],
+     [
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+      0.05
+     ],
+     [
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+      -0.15
+     ],
+     [
+      -0.26,
+      -0.15
+     ],
+     [
+      -0.16,
+      -0.25
+     ],
+     [
+      0.24,
+      -0.25
+     ],
+     [
+      0.34,
+      -0.35
+     ],
+     [
+      0.34,
+      -0.55
+     ],
+     [
+      0.24,
+      -0.65
+     ],
+     [
+      0.04,
+      -0.65
+     ],
+     [
+      -0.06,
+      -0.75
+     ],
+     [
+      -0.26,
+      -0.75
+     ],
+     [
+      -0.36,
+      -0.65
+     ],
+     [
+      -0.46,
+      -0.65
+     ],
+     [
+      -0.56,
+      -0.55
+     ],
+     [
+      -1.26,
+      -0.55
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0164_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0164_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..9187903a4203dfa7d4722b096cfea819930a41be
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0164_02.json	
@@ -0,0 +1,746 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      1.57,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.12,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.24,
+      0.68,
+      1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.14,
+      2.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.33,
+      0.61,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.49,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      0.89,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.43,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.65,
+      1.08,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      0.67,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.27,
+      0.59,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.5,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      0.45,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.43,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      0.04,
+      2.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.73,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.61,
+       0.0
+      ],
+      [
+       -0.61,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.66,
+      1.01,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.02,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      0.9,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.02,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.07,
+      -0.38,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.48,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.04,
+      1.03,
+      1.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.25,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.73,
+      -0.06,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.25,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "oven": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      0.59,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.54,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.19,
+      0.36,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.02,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.67,
+      0.84,
+      1.65
+     ],
+     "3D oriented bounding box dimensions": [
+      1.29,
+      0.67,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      0.53,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.16,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.37,
+      1.18
+     ],
+     [
+      -1.57,
+      1.18
+     ],
+     [
+      -1.47,
+      1.08
+     ],
+     [
+      -1.47,
+      0.78
+     ],
+     [
+      -1.57,
+      0.68
+     ],
+     [
+      -1.57,
+      -0.32
+     ],
+     [
+      -1.67,
+      -0.42
+     ],
+     [
+      -1.67,
+      -1.12
+     ],
+     [
+      1.23,
+      -1.12
+     ],
+     [
+      1.23,
+      0.78
+     ],
+     [
+      1.13,
+      0.78
+     ],
+     [
+      1.03,
+      0.88
+     ],
+     [
+      0.93,
+      0.88
+     ],
+     [
+      0.83,
+      0.98
+     ],
+     [
+      0.83,
+      1.58
+     ],
+     [
+      0.73,
+      1.58
+     ],
+     [
+      0.63,
+      1.68
+     ],
+     [
+      0.13,
+      1.68
+     ],
+     [
+      0.03,
+      1.78
+     ],
+     [
+      0.03,
+      1.88
+     ],
+     [
+      -2.37,
+      1.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0207_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0207_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..561dddbed79a1adb48267f3889b626907dbfc2e6
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0207_02.json	
@@ -0,0 +1,1650 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      1.13,
+      4.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.12,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.33,
+      1.01,
+      5.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.18,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       0.0
+      ],
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.22,
+      1.37,
+      3.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.21,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.5
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.99,
+      0.98,
+      5.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.37,
+      1.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.86,
+      -0.04,
+      6.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.75,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      1.1,
+      5.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.53,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      1.03,
+      5.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.83,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.25,
+      0.93,
+      5.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.05,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.21,
+      0.75,
+      2.95
+     ],
+     "3D oriented bounding box dimensions": [
+      1.41,
+      0.74,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      0.73,
+      3.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.07,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.69,
+      1.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.06,
+      1.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      0.68,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      2.01,
+      0.74,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      0.51,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      1.19,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.6,
+       0.0
+      ],
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.08,
+      0.67,
+      3.2
+     ],
+     "3D oriented bounding box dimensions": [
+      1.88,
+      0.56,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      0.74,
+      3.36
+     ],
+     "3D oriented bounding box dimensions": [
+      1.44,
+      0.11,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.68,
+      0.68,
+      6.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.44,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
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+   }
+  ],
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+      1.17,
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+    "first visible time": 0.0
+   },
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+      2.93
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+    "first visible time": 0.0
+   }
+  ],
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+      0.51,
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+     ],
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+      0.03,
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+     ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "window": [
+   {
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+      0.53,
+      6.32
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.56,
+      6.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.66,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.21,
+      -1.04
+     ],
+     [
+      1.49,
+      -1.04
+     ],
+     [
+      1.49,
+      1.36
+     ],
+     [
+      1.29,
+      1.36
+     ],
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+      1.19,
+      1.46
+     ],
+     [
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+      1.56
+     ],
+     [
+      0.99,
+      1.66
+     ],
+     [
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+     ],
+     [
+      -2.71,
+      1.56
+     ],
+     [
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+     ],
+     [
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+      1.46
+     ],
+     [
+      -2.91,
+      1.36
+     ],
+     [
+      -3.01,
+      1.26
+     ],
+     [
+      -3.21,
+      1.26
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0221_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0221_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd462b36e67ace2b2737bf878729bf6f6b1175ee
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0221_01.json	
@@ -0,0 +1,1400 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      -3.46,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.74,
+      1.02,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      -1.7,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.89,
+      0.76,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      -1.94,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      1.44,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.52,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       -0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.49,
+      -3.53,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.37,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.22,
+      -2.01,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.11,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.83
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      -2.17,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.02,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.61,
+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       -0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      0.74,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.7,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.62,
+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.5
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.44,
+      -1.9,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      1.18,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.24,
+       0.0
+      ],
+      [
+       -0.24,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      2.33,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.04,
+      1.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.8,
+      -0.5,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.06,
+      1.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.5
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      -1.4,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.09,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.61,
+       0.0
+      ],
+      [
+       0.61,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.29,
+      -2.55,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.17,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.69,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       -0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "mattress": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      -3.46,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.75,
+      1.02,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      -1.84,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.95,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       0.59,
+       0.0
+      ],
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.06,
+      -3.92,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.22,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      0.46,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.28,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.01,
+      0.31,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.19,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.76,
+      0.62,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.39,
+      -3.44,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.58,
+      0.65,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      1.65,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.01,
+      -2.43,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.02,
+      -3.46,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.18,
+      -3.9,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.97,
+      -1.36,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.24,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.19,
+      -2.98,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.59,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.18,
+      -1.0,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.81,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.9,
+      -5.5,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.1,
+       0.0
+      ],
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.0,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.35,
+       0.0
+      ],
+      [
+       -0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.49,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.49,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.31
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 3.5
+   }
+  ],
+  "towel": [
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+      -1.43,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.81,
+       0.0
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+       -0.58,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 2.5
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      0.46,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.24
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       -0.13,
+       0.0
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+       0.0,
+       1.0
+      ]
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+      1.36,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.19,
+       0.0
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+       0.0,
+       1.0
+      ]
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+   }
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+      -2.91,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
+      0.4
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 8.5
+   }
+  ],
+  "window": [
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+      -3.22,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.97,
+      -4.57
+     ],
+     [
+      -0.87,
+      -4.57
+     ],
+     [
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
+     [
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+      1.53
+     ],
+     [
+      1.03,
+      2.13
+     ],
+     [
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+      2.23
+     ],
+     [
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+     ],
+     [
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+     [
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+     ],
+     [
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+      1.23
+     ],
+     [
+      -0.97,
+      1.23
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0304_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0304_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bcb0da0eb17f15abfd28c52e4698ecda06aa03d
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0304_00.json	
@@ -0,0 +1,969 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
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+      -1.99,
+      -1.52
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+       0.0
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 1.33
+   }
+  ],
+  "counter": [
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+      -2.07,
+      -1.68
+     ],
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+      0.12,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
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+      2.05,
+      -3.15
+     ],
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+      0.91,
+      0.07
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
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+      -1.86,
+      -1.99
+     ],
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+      0.26,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
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+   },
+   {
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+      -1.99,
+      -1.98
+     ],
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+      0.29,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.77,
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+       0.0,
+       1.0
+      ]
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+   },
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+      -1.95,
+      -1.97
+     ],
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+      0.26,
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+       0.0,
+       1.0
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+   },
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+      -1.7,
+      -1.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.29,
+      0.02
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+     "3D oriented bounding box orientation unit vectors": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+       0.0,
+       1.0
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+    },
+    "first visible time": 1.17
+   }
+  ],
+  "plant": [
+   {
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+      -6.68,
+      3.35
+     ],
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "table": [
+   {
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+      -1.78,
+      -1.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "trash bin": [
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+      -3.96,
+      -1.63
+     ],
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+      0.61,
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+   },
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+     ],
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+   },
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+      -4.67,
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+     ],
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "window": [
+   {
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+      -0.88,
+      0.04
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
+   {
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+     ],
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+      0.87,
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+   },
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+     ]
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+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
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+      -6.67
+     ],
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
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+      -1.57
+     ],
+     [
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+     ],
+     [
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+     ],
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+     ],
+     [
+      -1.17,
+      2.83
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0328_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0328_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..12fc89e7b59a2dd992689308cdfeeccc69f3102b
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0328_00.json	
@@ -0,0 +1,1184 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.58,
+      -0.01
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+      0.05,
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+      0.52,
+      -0.29
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+       1.0
+      ]
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+      -0.2,
+      0.02
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+      -2.34
+     ],
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      -0.25,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.08,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   }
+  ],
+  "oven": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.9,
+      0.64,
+      -1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.04,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -0.19,
+      -0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.04,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      0.91,
+      -1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.04,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.14,
+      -0.21,
+      -1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.03,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      0.32,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.1,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.66,
+      0.23,
+      -1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.54,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.03,
+      0.34,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.11,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.19,
+      -1.06
+     ],
+     [
+      1.41,
+      -1.06
+     ],
+     [
+      1.41,
+      -0.36
+     ],
+     [
+      1.51,
+      -0.26
+     ],
+     [
+      1.61,
+      -0.26
+     ],
+     [
+      1.61,
+      0.74
+     ],
+     [
+      1.31,
+      0.74
+     ],
+     [
+      1.21,
+      0.84
+     ],
+     [
+      1.21,
+      1.44
+     ],
+     [
+      -2.19,
+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0356_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cdcbd0df3ebbf379312cb23e7362b78068f1fda
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0356_00.json	
@@ -0,0 +1,898 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      -0.55,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.87,
+      0.74,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      -0.29,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.11,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.9,
+      0.57,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.22,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.7,
+      0.73,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.24,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      -0.05,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.02,
+      1.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.46,
+      -0.6,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.04,
+      1.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      -0.99,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.04,
+      1.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.01,
+      1.82,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.4,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "mattress": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.59,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      1.82,
+      0.75,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      -0.31,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.09,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      -0.15,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.09,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.96,
+      0.12,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.14,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.95,
+      -0.4,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.06,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.63,
+      0.98,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.33,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      0.97,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.03,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.35,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.76,
+      0.89,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.25,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.03,
+      0.83,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.31,
+      0.82,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.24,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.93,
+      -0.17,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.34,
+      -0.9
+     ],
+     [
+      -0.24,
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+     [
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+     [
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+      0.1
+     ],
+     [
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+      0.5
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+     [
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+      0.5
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+     ],
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+      2.2
+     ],
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+      2.1
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+     [
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+      2.0
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+     [
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+      1.9
+     ],
+     [
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+      1.8
+     ],
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+     [
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+      1.6
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+     [
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+      1.5
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+     [
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+      1.5
+     ],
+     [
+      -0.74,
+      1.4
+     ],
+     [
+      -1.34,
+      1.4
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0357_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..b98332653ba8325980cb9791b6ae488aa370ad9d
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0357_01.json	
@@ -0,0 +1,545 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+      1.38,
+      1.32
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+      0.33,
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+      0.32,
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+       0.91,
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+       0.0,
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+      2.29
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+       0.0,
+       1.0
+      ]
+     ]
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+   }
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
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+      -0.07,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ]
+ },
+ "room": {
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+     ],
+     [
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+     ],
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+     ],
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+      0.35
+     ],
+     [
+      -3.02,
+      0.25
+     ],
+     [
+      -4.02,
+      0.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -6.02,
+      -0.65
+     ],
+     [
+      -5.12,
+      -0.65
+     ],
+     [
+      -5.12,
+      0.25
+     ],
+     [
+      -6.02,
+      0.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0412_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba452c89ba655979483c770a8430bbffc299c558
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0412_00.json	
@@ -0,0 +1,980 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.27,
+      0.59,
+      4.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.1,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
+       0.0
+      ],
+      [
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+       -0.41,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 4.33
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
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+      1.91,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.24,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
+      [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
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+      -2.41,
+      3.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.89,
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
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+      2.27,
+      2.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+      ]
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+   },
+   {
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+      2.04,
+      2.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.48,
+       0.0
+      ],
+      [
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+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
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+      2.06,
+      1.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.49,
+       0.0
+      ],
+      [
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.17
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.3,
+      2.74
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.42,
+       0.0
+      ],
+      [
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
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+      2.17,
+      2.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.88,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.86,
+       0.0
+      ],
+      [
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+       0.0
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+      [
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+       0.0,
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+    },
+    "first visible time": 3.17
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
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+      1.67,
+      3.9
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+     "3D oriented bounding box dimensions": [
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+      0.67,
+      0.86
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      -0.97,
+      3.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.06,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
+       0.0
+      ],
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+       -0.39,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 2.67
+   }
+  ],
+  "trash bin": [
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+      1.41,
+      4.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.22,
+      0.43
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    "first visible time": 1.5
+   },
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+      1.97,
+      3.36
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+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.2
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+     ]
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+   },
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+      2.64,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
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+    "3D oriented bounding box": {
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+      0.97,
+      4.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.71,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+   },
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+    "3D oriented bounding box": {
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+      0.99,
+      4.73
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.17,
+      5.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
+       0.0
+      ],
+      [
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.87,
+      1.35
+     ],
+     [
+      -1.47,
+      1.35
+     ],
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+     [
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+     ],
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+     ],
+     [
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+      1.15
+     ],
+     [
+      1.03,
+      1.25
+     ],
+     [
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+      1.35
+     ],
+     [
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+      1.45
+     ],
+     [
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+     ],
+     [
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+      2.45
+     ],
+     [
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+      2.55
+     ],
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+      2.55
+     ],
+     [
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+      2.65
+     ],
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+      2.75
+     ],
+     [
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+     ],
+     [
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+      2.85
+     ],
+     [
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+      2.95
+     ],
+     [
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+      2.95
+     ],
+     [
+      -1.37,
+      2.85
+     ],
+     [
+      -1.47,
+      2.75
+     ],
+     [
+      -1.57,
+      2.75
+     ],
+     [
+      -1.57,
+      2.55
+     ],
+     [
+      -1.67,
+      2.45
+     ],
+     [
+      -1.67,
+      2.15
+     ],
+     [
+      -1.77,
+      2.05
+     ],
+     [
+      -1.87,
+      2.05
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0426_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0426_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..685add9a6ff9396fe7c6151d726538e785177718
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0426_00.json	
@@ -0,0 +1,1400 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.49,
+      -0.04,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.19,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.8,
+      -1.19,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.4,
+      0.55,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.45,
+       0.0
+      ],
+      [
+       0.45,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.11,
+      0.89,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.37,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      -1.08,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.35,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      0.77,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.09,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      -0.39,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.03,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.59,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.02,
+      1.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.31,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      1.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.38,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.01,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.37,
+      -1.16,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.3,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.59,
+      -0.81,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "mattress": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.09,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      ]
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+    },
+    "first visible time": 0.0
+   }
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+   {
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+      -1.24,
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+       0.0,
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+    },
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+   },
+   {
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+      -1.81,
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
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+     "3D oriented bounding box orientation unit vectors": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
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+     "3D oriented bounding box orientation unit vectors": [
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+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.57,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.9,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
+    "first visible time": 0.0
+   }
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+      -1.62,
+      0.19
+     ],
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+      0.4,
+      0.29
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+     ]
+    },
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+   },
+   {
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+    "first visible time": 10.17
+   }
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+  "trash bin": [
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+      -0.29,
+      0.07
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+    "first visible time": 0.5
+   }
+  ],
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+      0.75,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+   },
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+      -0.69,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.49,
+       0.0
+      ],
+      [
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+       0.87,
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+       0.0,
+       1.0
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+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.57,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.5,
+       0.0
+      ],
+      [
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+       0.86,
+       0.0
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.16,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.42,
+       0.0
+      ],
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+       0.91,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.83,
+      -2.01
+     ],
+     [
+      -2.63,
+      -2.01
+     ],
+     [
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
+     [
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+     ],
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+      0.49
+     ],
+     [
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+      0.49
+     ],
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+      0.69
+     ],
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+      0.79
+     ],
+     [
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+      0.99
+     ],
+     [
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+      0.99
+     ],
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+      1.09
+     ],
+     [
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+      1.09
+     ],
+     [
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+      1.29
+     ],
+     [
+      0.37,
+      1.29
+     ],
+     [
+      0.27,
+      1.39
+     ],
+     [
+      0.17,
+      1.39
+     ],
+     [
+      0.07,
+      1.49
+     ],
+     [
+      -0.13,
+      1.49
+     ],
+     [
+      -0.33,
+      1.69
+     ],
+     [
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+      1.79
+     ],
+     [
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+     ],
+     [
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+     ],
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+     ],
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+      1.39
+     ],
+     [
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+      1.29
+     ],
+     [
+      -1.83,
+      1.19
+     ],
+     [
+      -2.03,
+      0.99
+     ],
+     [
+      -2.03,
+      0.89
+     ],
+     [
+      -2.13,
+      0.79
+     ],
+     [
+      -2.13,
+      0.59
+     ],
+     [
+      -2.23,
+      0.49
+     ],
+     [
+      -2.23,
+      0.39
+     ],
+     [
+      -2.33,
+      0.29
+     ],
+     [
+      -2.33,
+      0.19
+     ],
+     [
+      -2.43,
+      0.09
+     ],
+     [
+      -2.43,
+      -0.01
+     ],
+     [
+      -2.53,
+      -0.11
+     ],
+     [
+      -2.53,
+      -0.21
+     ],
+     [
+      -2.63,
+      -0.31
+     ],
+     [
+      -2.63,
+      -0.41
+     ],
+     [
+      -2.73,
+      -0.51
+     ],
+     [
+      -2.83,
+      -0.51
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0435_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0435_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..42bf9b112ceed72c1f37a660ec6c3bfac339d879
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0435_02.json	
@@ -0,0 +1,1286 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.24,
+      1.16,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.3,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.28,
+      0.82,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      0.54,
+      2.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
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+     [
+      3.51,
+      -0.37
+     ],
+     [
+      3.51,
+      1.43
+     ],
+     [
+      -2.29,
+      1.43
+     ],
+     [
+      -2.29,
+      1.13
+     ],
+     [
+      -2.39,
+      1.03
+     ],
+     [
+      -2.69,
+      1.03
+     ],
+     [
+      -2.79,
+      1.13
+     ],
+     [
+      -2.79,
+      1.43
+     ],
+     [
+      -3.69,
+      1.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0575_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..263ce331eebc416ec6bb057f878beb2e9648245d
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0575_01.json	
@@ -0,0 +1,1054 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.82,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.52,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
+       0.0
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+       -0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
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+      0.41,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.11,
+       0.0
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
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+   },
+   {
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+      2.43,
+      0.99
+     ],
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+      0.43,
+      0.24
+     ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
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+      2.01,
+      2.85
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.97,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
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+   },
+   {
+    "3D oriented bounding box": {
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+      1.39,
+      2.89
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 1.5
+   },
+   {
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+      3.07,
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+     ],
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+   },
+   {
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+   },
+   {
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+       1.0
+      ]
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+    "first visible time": 0.0
+   },
+   {
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+    },
+    "first visible time": 0.0
+   }
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+   {
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+      0.63,
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+     ],
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+   }
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+   }
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+     ],
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+    "first visible time": 3.0
+   }
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0580_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..451fff210739bffdd5739dfb17d581853a0ba176
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0580_01.json	
@@ -0,0 +1,960 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.7,
+      -1.21,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.26,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.49,
+       0.0
+      ],
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      -0.02,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      1.32,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.88,
+      0.18,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.39,
+      0.77,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.35,
+      0.88,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.28,
+      1.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.7,
+      -1.15,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.41,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.43,
+      0.81,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.12,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.83
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.46,
+      0.54,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.1,
+      1.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      1.34,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.2,
+      2.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.83
+   }
+  ],
+  "fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.08,
+      0.3,
+      1.91
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.74,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      -0.74,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.25,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       0.55,
+       0.0
+      ],
+      [
+       -0.55,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "mattress": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      0.02,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.39,
+      0.75,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.26,
+      0.16,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.98,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      1.65,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.25,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.29,
+      -0.78,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.34,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      0.34,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.31,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      -0.77,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.31,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.1,
+       0.0
+      ],
+      [
+       0.1,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.14,
+      -0.91,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.3,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      1.5,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.03,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      1.16,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.23,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.36,
+       0.0
+      ],
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      1.36,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.05,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.47,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       -0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      0.26,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.31,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       -0.53,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      1.53,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.18,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.4,
+       0.0
+      ],
+      [
+       -0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.27,
+      -0.05,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.32,
+      1.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.67,
+      -1.36
+     ],
+     [
+      -0.57,
+      -1.36
+     ],
+     [
+      -0.47,
+      -1.46
+     ],
+     [
+      -0.07,
+      -1.46
+     ],
+     [
+      0.03,
+      -1.56
+     ],
+     [
+      0.03,
+      -1.66
+     ],
+     [
+      2.43,
+      -1.66
+     ],
+     [
+      2.43,
+      -1.26
+     ],
+     [
+      2.53,
+      -1.16
+     ],
+     [
+      2.53,
+      -0.96
+     ],
+     [
+      2.63,
+      -0.86
+     ],
+     [
+      2.73,
+      -0.86
+     ],
+     [
+      2.73,
+      1.64
+     ],
+     [
+      2.23,
+      1.64
+     ],
+     [
+      2.13,
+      1.74
+     ],
+     [
+      1.63,
+      1.74
+     ],
+     [
+      1.53,
+      1.84
+     ],
+     [
+      1.53,
+      1.94
+     ],
+     [
+      -0.47,
+      1.94
+     ],
+     [
+      -0.47,
+      1.54
+     ],
+     [
+      -0.57,
+      1.44
+     ],
+     [
+      -0.67,
+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0593_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ff50ecfc94de5ed3baf2fdc2595cf04e88fa5f3
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0593_00.json	
@@ -0,0 +1,1198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
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+      "unit": "meters",
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+      1.84
+     ],
+     [
+      1.5,
+      1.94
+     ],
+     [
+      1.5,
+      2.24
+     ],
+     [
+      -0.6,
+      2.24
+     ],
+     [
+      -0.6,
+      2.14
+     ],
+     [
+      -0.7,
+      2.04
+     ],
+     [
+      -1.1,
+      2.04
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0647_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..95e6d5731a76c3601e6285d519521f8653d44f94
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0647_00.json	
@@ -0,0 +1,946 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
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+      -1.25,
+      4.07
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+      0.46,
+      0.2
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+   }
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+       1.0
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+      4.24
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+      0.4,
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+   }
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+      -1.48,
+      -0.03
+     ],
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+      -0.07
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+     "3D oriented bounding box dimensions": [
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+      0.69,
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+       1.0
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+       0.0,
+       1.0
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+      0.94
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+     ]
+    },
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+   }
+  ]
+ },
+ "room": {
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+     ],
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+     ],
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+     ],
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+     ],
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+      0.92,
+      3.43
+     ],
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+      0.82,
+      3.53
+     ],
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+      0.82,
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+     ],
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+      0.72,
+      3.93
+     ],
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+     ],
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+      0.62,
+      4.33
+     ],
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+      0.62,
+      4.53
+     ],
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+      0.52,
+      4.63
+     ],
+     [
+      0.52,
+      4.93
+     ],
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+      5.03
+     ],
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+      0.42,
+      5.33
+     ],
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+      0.32,
+      5.43
+     ],
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+      0.32,
+      5.73
+     ],
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+      0.22,
+      5.83
+     ],
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+      6.13
+     ],
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+      0.12,
+      6.23
+     ],
+     [
+      0.12,
+      6.43
+     ],
+     [
+      -2.38,
+      6.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0648_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..99f517f3c580eda87af2087b7ab73c0b59b7f268
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0648_00.json	
@@ -0,0 +1,1246 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
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+    },
+    "first visible time": 9.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.01,
+      -1.51
+     ],
+     [
+      1.59,
+      -1.51
+     ],
+     [
+      1.59,
+      1.19
+     ],
+     [
+      1.19,
+      1.19
+     ],
+     [
+      1.09,
+      1.29
+     ],
+     [
+      1.09,
+      1.59
+     ],
+     [
+      0.89,
+      1.79
+     ],
+     [
+      0.89,
+      2.59
+     ],
+     [
+      -0.71,
+      2.59
+     ],
+     [
+      -0.71,
+      2.39
+     ],
+     [
+      -0.81,
+      2.29
+     ],
+     [
+      -0.81,
+      1.99
+     ],
+     [
+      -0.91,
+      1.89
+     ],
+     [
+      -1.01,
+      1.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0663_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..142b2d2d79a2bce31e69fcfd635fb2756881dd28
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0663_00.json	
@@ -0,0 +1,1116 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      0.62,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.4,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.19,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      1.08,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.22,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.44,
+      0.63,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      1.11,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.64,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.72,
+       0.69,
+       0.0
+      ],
+      [
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+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.74,
+      0.7,
+      1.56
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.41,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.75,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.63,
+      0.43
+     ],
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+      0.02,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.01,
+       0.0
+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
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+      0.66,
+      2.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.1,
+       0.0
+      ],
+      [
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+       0.99,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.36,
+      0.64,
+      2.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.57,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.63,
+      0.37
+     ],
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+      0.01,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
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+      0.66,
+      2.1
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
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+       1.0,
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.55,
+      1.09
+     ],
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+      0.24,
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.42,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.42,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
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+       1.0
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+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
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+      0.36,
+      2.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       1.0,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 3.67
+   },
+   {
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+      0.41,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+       1.0
+      ]
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+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
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+      0.89,
+      0.11
+     ],
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+   },
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+      0.68,
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+      0.65,
+      0.24
+     ],
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+      0.03,
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+   },
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+      0.65,
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+     ],
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+       1.0,
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 0.0
+   }
+  ],
+  "telephone": [
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+    "3D oriented bounding box": {
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+      0.61,
+      2.28
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.2,
+       0.0
+      ],
+      [
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+       0.98,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 3.67
+   }
+  ],
+  "towel": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.54,
+      1.68
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.1,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.29,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       0.0
+      ],
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.15,
+      1.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.41,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+      [
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+       0.0,
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+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
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+      0.36,
+      2.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       1.0,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.32,
+      1.1
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0684_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6dd3bb980deca9106bdc9ac8103e4ac7ae89811
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0684_01.json	
@@ -0,0 +1,574 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
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+        "x",
+        "y",
+        "height above floor"
+       ],
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+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+        [
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+         "y",
+         "height"
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+        [
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+         "y",
+         "height"
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+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+      "description": "earliest time at which this object instance is visibly observed"
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+      "unit": "meters",
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+      1.81
+     ],
+     [
+      -0.56,
+      1.81
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0693_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..d13de33e91c66f412628e45e55136dc49ac96d32
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0693_00.json	
@@ -0,0 +1,536 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.29,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.86,
+       0.0
+      ],
+      [
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+       0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.61,
+      1.12,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.57,
+      1.31,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.02,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.06,
+      -0.45
+     ],
+     [
+      -0.96,
+      -0.45
+     ],
+     [
+      -0.86,
+      -0.55
+     ],
+     [
+      -0.86,
+      -0.85
+     ],
+     [
+      0.84,
+      -0.85
+     ],
+     [
+      0.84,
+      -0.75
+     ],
+     [
+      0.94,
+      -0.65
+     ],
+     [
+      1.04,
+      -0.65
+     ],
+     [
+      1.04,
+      -0.25
+     ],
+     [
+      1.14,
+      -0.15
+     ],
+     [
+      1.54,
+      -0.15
+     ],
+     [
+      1.54,
+      1.25
+     ],
+     [
+      1.44,
+      1.25
+     ],
+     [
+      1.34,
+      1.35
+     ],
+     [
+      0.84,
+      1.35
+     ],
+     [
+      0.74,
+      1.45
+     ],
+     [
+      0.74,
+      1.55
+     ],
+     [
+      -1.06,
+      1.55
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0696_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..649039805bd65577433003f1c772e0a55cc39d10
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0696_01.json	
@@ -0,0 +1,1722 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.63,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.5,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       0.0
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "bookshelf": [
+   {
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+      -0.8,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      1.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 0.5
+   },
+   {
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+      1.31,
+      0.38
+     ],
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+      0.26,
+      1.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "chair": [
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+     "3D oriented bounding box center coordinates": [
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+      0.68,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.22,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
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+      0.72,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.03,
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+       1.0,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
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+   },
+   {
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+      2.26,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.69,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+     ],
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+       0.0,
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+   },
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+    "3D oriented bounding box": {
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+      0.0
+     ],
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+   }
+  ],
+  "computer mouse": [
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+      -0.68,
+      0.54
+     ],
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+       1.0
+      ]
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+    },
+    "first visible time": 0.5
+   }
+  ],
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+      0.28,
+      0.34
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+      3.17,
+      0.12
+     ],
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+     ],
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+      -0.89,
+      1.02
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+      0.96
+     ],
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+       1.0
+      ]
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+   }
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+      3.4,
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+       0.95,
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+      [
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+       0.0,
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+   },
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+      3.28,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
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+     ]
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+    "first visible time": 2.17
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
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+      0.99,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
+       -1.0,
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+  "printer": [
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+      -0.69,
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+   }
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+  "sofa": [
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+      -0.31
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+  "table": [
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+   {
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+      2.09,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
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+      -0.84,
+      0.2
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+      0.21
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+   }
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+      3.39,
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+     ],
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+      3.28,
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+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "window": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      1.56,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       0.01,
+       0.0
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+       1.0
+      ]
+     ]
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+   },
+   {
+    "3D oriented bounding box": {
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+      3.72,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -4.95,
+      0.22
+     ],
+     [
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+      0.22
+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+      2.92
+     ],
+     [
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+      2.92
+     ],
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+      3.02
+     ],
+     [
+      1.75,
+      3.72
+     ],
+     [
+      1.35,
+      3.72
+     ],
+     [
+      1.25,
+      3.82
+     ],
+     [
+      1.25,
+      3.92
+     ],
+     [
+      -2.25,
+      3.92
+     ],
+     [
+      -2.25,
+      3.72
+     ],
+     [
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+      3.62
+     ],
+     [
+      -2.55,
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+     ],
+     [
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+      3.42
+     ],
+     [
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+      3.42
+     ],
+     [
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+      3.32
+     ],
+     [
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+      3.32
+     ],
+     [
+      -3.55,
+      3.02
+     ],
+     [
+      -3.65,
+      2.92
+     ],
+     [
+      -3.85,
+      2.92
+     ],
+     [
+      -3.85,
+      2.62
+     ],
+     [
+      -3.95,
+      2.52
+     ],
+     [
+      -4.05,
+      2.52
+     ],
+     [
+      -4.05,
+      2.12
+     ],
+     [
+      -4.15,
+      2.02
+     ],
+     [
+      -4.35,
+      2.02
+     ],
+     [
+      -4.45,
+      1.92
+     ],
+     [
+      -4.45,
+      1.82
+     ],
+     [
+      -4.55,
+      1.72
+     ],
+     [
+      -4.55,
+      1.62
+     ],
+     [
+      -4.65,
+      1.52
+     ],
+     [
+      -4.65,
+      1.42
+     ],
+     [
+      -4.85,
+      1.22
+     ],
+     [
+      -4.95,
+      1.22
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0699_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..acae3d00aca7d8c53abf86307855edd449eff1d4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Depth Coherence Fence 10/64/compact/scene0699_00.json	
@@ -0,0 +1,912 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.34,
+      1.11,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.16,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.4,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.51,
+      1.15,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.18,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.91,
+      0.87,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.22,
+      1.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      0.79,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      0.43,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.21,
+       0.0
+      ],
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.47,
+      0.89,
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+}
\ No newline at end of file