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data/spatial codes/ground truth/compact/f3d64c30f8.json

@@ -0,0 +1,1782 @@
+{
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+         "height"
+        ],
+        [
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+     }
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+        [
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+      4.18,
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+   }
+  ],
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+      0.97
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+      0.14,
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.32,
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+       -0.63
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      0.04
+     ],
+     [
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+      0.04
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+      4.84
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+     [
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+      4.84
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/fb5a96b1a2.json

@@ -0,0 +1,1450 @@
+{
+ "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": {
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+      1.55,
+      2.62
+     ],
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+      0.27,
+      0.2
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.3,
+       0.0
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+       1.0
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+       0.95,
+       0.0
+      ]
+     ]
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+    "first visible time": null
+   },
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+      1.05,
+      2.61
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+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
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+       -0.31,
+       0.0
+      ]
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+   },
+   {
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+      2.47,
+      2.62
+     ],
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+      0.26,
+      0.23
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.29,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
+      [
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+       0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.3,
+      2.68
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.26,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.52,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.86,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.33,
+      2.62
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.26,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.59,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
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+       0.8,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.98,
+      2.61
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.51,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.86,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      5.8,
+      2.62
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.41,
+       0.0
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+      ],
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+       -0.91,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      4.0,
+      2.62
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.22,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.32,
+       -0.36
+      ],
+      [
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+       -0.11,
+       -0.91
+      ],
+      [
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+       -0.94,
+       0.23
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      6.23,
+      2.64
+     ],
+     "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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+       -0.82,
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data/spatial codes/ground truth/compact/scene0086_02.json

@@ -0,0 +1,352 @@
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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": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "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"
+       ],
+       [
+        "x",
+        "y"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
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+      "components": [
+       [
+        [
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+         "y"
+        ],
+        [
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+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0231_00.json

@@ -0,0 +1,914 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<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"
+      },
+      "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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+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
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+      ],
+      "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"
+     }
+    }
+   ]
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+ },
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+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0246_00.json

@@ -0,0 +1,614 @@
+{
+ "spatial code schema": {
+  "objects": {
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+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
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+        "dimension 2",
+        "dimension 3"
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+        [
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+         "y",
+         "height"
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+        [
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+         "y",
+         "height"
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+         "y",
+         "height"
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+      }
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+      "description": "earliest time at which this object instance is visibly observed"
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+        "y"
+       ],
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+      "description": "ordered vertices enclosing one floor region"
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+         "y"
+        ],
+        [
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0251_00.json

@@ -0,0 +1,608 @@
+{
+ "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"
+        ],
+        [
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+         "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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+       [
+        "x",
+        "y"
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+       [
+        "x",
+        "y"
+       ]
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+        [
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+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0277_02.json

@@ -0,0 +1,388 @@
+{
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0304_00.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": {
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+         "x",
+         "y",
+         "height"
+        ],
+        [
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+         "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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+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
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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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+ },
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+   }
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+ },
+ "room": {
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0307_02.json

@@ -0,0 +1,548 @@
+{
+ "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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+       [
+        "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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+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0328_00.json

@@ -0,0 +1,288 @@
+{
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+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0338_00.json

@@ -0,0 +1,252 @@
+{
+ "spatial code schema": {
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+   "<object class>": [
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+        "height above floor"
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+      "3D oriented bounding box dimensions": {
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+        "dimension 2",
+        "dimension 3"
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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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+      "description": "ordered vertices enclosing one floor region"
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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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+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0353_00.json

@@ -0,0 +1,750 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
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+        "x",
+        "y",
+        "height above floor"
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+       "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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+      "3D oriented bounding box orientation unit vectors": {
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+         "height"
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+        [
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+         "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"
+      }
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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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+       [
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+      "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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+       -0.99
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+       -0.99
+      ]
+     ]
+    },
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+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
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+      -2.06
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+      -2.06
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+     [
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+      2.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0354_00.json

@@ -0,0 +1,546 @@
+{
+ "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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+    "first visible time": null
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+      0.64
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
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+       -0.15,
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+      -0.15,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
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+       -1.0,
+       0.01
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+       0.03,
+       0.67
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+    "first visible time": null
+   },
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+      0.65
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+     "3D oriented bounding box dimensions": [
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+       -0.75
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+      1.67,
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+      ],
+      [
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+       0.06,
+       0.03
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+}

data/spatial codes/ground truth/compact/scene0356_00.json

@@ -0,0 +1,486 @@
+{
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+}

data/spatial codes/ground truth/compact/scene0686_00.json

@@ -0,0 +1,186 @@
+{
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+}

data/spatial codes/ground truth/compact/scene0693_00.json

@@ -0,0 +1,352 @@
+{
+ "spatial code schema": {
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+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0695_00.json

@@ -0,0 +1,524 @@
+{
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+ }
+}

data/spatial codes/ground truth/compact/scene0696_01.json

@@ -0,0 +1,742 @@
+{
+ "spatial code schema": {
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+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0697_01.json

@@ -0,0 +1,584 @@
+{
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+        "dimension 2",
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+         "height"
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+        [
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+         "height"
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+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0699_00.json

@@ -0,0 +1,552 @@
+{
+ "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": {
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+        "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"
+        ],
+        [
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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": {
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+      "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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+      "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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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+    "first visible time": 5.0
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+   {
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+       -0.98,
+       0.05
+      ]
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+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
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+      -1.87,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
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+       -0.02
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
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+      -2.1
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+      -2.1
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+      2.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0700_02.json

@@ -0,0 +1,650 @@
+{
+ "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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+     "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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+    },
+    "first visible time": null
+   }
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+      1.42
+     ],
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+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
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+      1.25,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.02,
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+       1.0,
+       -0.02
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+      [
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+       -0.02,
+       -1.0
+      ]
+     ]
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+    "first visible time": null
+   },
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+      1.19
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+     "3D oriented bounding box dimensions": [
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+       -0.1
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+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
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+      0.95,
+      0.91
+     ],
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+       -0.01
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+       0.01,
+       -1.0
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+     ]
+    },
+    "first visible time": null
+   }
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+      -0.58,
+      0.84
+     ],
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+      0.38,
+      0.47
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+       0.33,
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+       -0.47,
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+       -0.82,
+       0.53
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+     ]
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+   },
+   {
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+     ],
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+       -0.52
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+    },
+    "first visible time": null
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+   }
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+    "first visible time": null
+   }
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+   },
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+      -1.1,
+      0.35
+     ],
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+       -0.99,
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+       0.02,
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+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
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+      -0.45,
+      1.02
+     ],
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+       0.99,
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+      ],
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+       0.03,
+       1.0
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+      [
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+       0.16,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
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+      0.93,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.69,
+      0.86
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.97,
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+      ],
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+       -0.25,
+       -0.01
+      ],
+      [
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+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.68
+     ],
+     [
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+      -1.68
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+      1.85
+     ],
+     [
+      -1.73,
+      1.85
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0701_00.json

@@ -0,0 +1,252 @@
+{
+ "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": {
+     "3D oriented bounding box center coordinates": [
+      -0.3,
+      0.1,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      2.9,
+      3.84,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.24,
+       -0.02
+      ],
+      [
+       -0.24,
+       -0.97,
+       0.04
+      ],
+      [
+       -0.03,
+       -0.03,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      -0.47,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      2.21,
+      1.14,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       -0.97,
+       0.05
+      ],
+      [
+       0.71,
+       -0.15,
+       0.68
+      ],
+      [
+       -0.65,
+       0.21,
+       0.73
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.54,
+      -1.6,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.21,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       -0.68,
+       0.35
+      ],
+      [
+       0.45,
+       -0.71,
+       -0.55
+      ],
+      [
+       0.62,
+       -0.2,
+       0.76
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.26,
+      -0.11,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      1.18,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.0,
+       -0.01
+      ],
+      [
+       0.0,
+       1.0,
+       -0.02
+      ],
+      [
+       0.01,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.98,
+      -1.6
+     ],
+     [
+      1.76,
+      -1.6
+     ],
+     [
+      1.76,
+      2.15
+     ],
+     [
+      -1.98,
+      2.15
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0702_02.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": {
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      0.2,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.11,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       0.01,
+       -1.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.03
+      ],
+      [
+       -0.02,
+       1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.89,
+      -0.3,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.25,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.0,
+       0.1
+      ],
+      [
+       -0.1,
+       0.07,
+       -0.99
+      ],
+      [
+       0.0,
+       -1.0,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.83,
+      0.57,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      1.7,
+      0.68,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.04,
+       1.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.04
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.86,
+      -0.56
+     ],
+     [
+      0.68,
+      -0.56
+     ],
+     [
+      0.68,
+      0.98
+     ],
+     [
+      -0.86,
+      0.98
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/compact/scene0704_01.json

@@ -0,0 +1,382 @@
+{
+ "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": [
+      1.52,
+      0.73,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      2.78,
+      1.71,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.45,
+       -0.89,
+       -0.02
+      ],
+      [
+       -0.89,
+       -0.44,
+       -0.11
+      ],
+      [
+       0.09,
+       0.07,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.45,
+      1.32,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.56,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.03
+      ],
+      [
+       0.65,
+       0.76,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.45,
+      1.32,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.56,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.03
+      ],
+      [
+       0.65,
+       0.76,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      1.98,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.4,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       -0.78,
+       -0.12
+      ],
+      [
+       0.07,
+       0.1,
+       -0.99
+      ],
+      [
+       0.78,
+       -0.62,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      -0.63,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.69,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.43,
+       0.9,
+       -0.04
+      ],
+      [
+       0.49,
+       -0.2,
+       0.85
+      ],
+      [
+       0.76,
+       -0.39,
+       -0.52
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.83,
+      -0.41,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.35,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.14,
+       -0.99
+      ],
+      [
+       0.75,
+       0.65,
+       -0.1
+      ],
+      [
+       0.66,
+       -0.74,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.51,
+      -1.07,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.29,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       0.12,
+       -0.99
+      ],
+      [
+       0.08,
+       0.99,
+       0.12
+      ],
+      [
+       1.0,
+       -0.07,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      -0.89,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.98,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.37,
+       0.83
+      ],
+      [
+       0.72,
+       0.69,
+       0.06
+      ],
+      [
+       -0.55,
+       0.62,
+       -0.56
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.96,
+      -2.0
+     ],
+     [
+      1.95,
+      -2.0
+     ],
+     [
+      1.95,
+      1.91
+     ],
+     [
+      -1.96,
+      1.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}

data/spatial codes/ground truth/explicit/41159541.json

@@ -0,0 +1,262 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.72 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "3.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.88 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.47 meters",
+      "y coordinate": "-2.62 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "-2.34 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-2.54 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "-2.71 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-2.69 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "-3.61 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.48 meters",
+      "y coordinate": "-2.64 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "43.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "tv"]
+}

data/spatial codes/ground truth/explicit/41159555.json

@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.74 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "28.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}

data/spatial codes/ground truth/explicit/41159572.json

@@ -0,0 +1,206 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "-3.71 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.73 meters",
+      "y coordinate": "-4.37 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.18 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "2.24 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.66 meters",
+      "y coordinate": "-3.13 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.64 meters",
+      "y coordinate": "-5.33 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.57 meters",
+      "y coordinate": "-3.45 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "43.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "fireplace", "table", "stool"]
+}

data/spatial codes/ground truth/explicit/41254246.json

@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}

data/spatial codes/ground truth/explicit/41254386.json

@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}

data/spatial codes/ground truth/explicit/41254402.json

@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "table"]
+}

data/spatial codes/ground truth/explicit/41254432.json

@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.31 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.04 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.57 meters",
+      "y coordinate": "-2.27 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.28 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "tv": {
+    "distance": "1.49 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "1.49 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "4.39 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "4.39 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv", "stove"]
+}

data/spatial codes/ground truth/explicit/42444950.json

@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.21 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.65 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "fireplace": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.58 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "2.63 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.58 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "3.54 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "sofa": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.63 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.54 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "fireplace"]
+}

data/spatial codes/ground truth/explicit/42444954.json

@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "2.41 meters",
+    "closeness rank": 2
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   }
+  },
+  "refrigerator": {
+   "bathtub": {
+    "distance": "1.48 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "2.41 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub", "refrigerator"]
+}

data/spatial codes/ground truth/explicit/42445026.json

@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "2.85 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "3.16 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "sofa": {
+    "distance": "1.18 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "table", "chair"]
+}

data/spatial codes/ground truth/explicit/42445031.json

@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.83 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.55 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "1.83 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.55 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table"]
+}

data/spatial codes/ground truth/explicit/42445429.json

@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.04 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.43 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.1 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.38 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.38 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv"]
+}

data/spatial codes/ground truth/explicit/42445981.json

@@ -0,0 +1,238 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "2.87 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.08 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.55 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.36 meters",
+      "y coordinate": "3.26 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.65 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "3.06 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "2.32 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.27 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.27 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair"]
+}

data/spatial codes/ground truth/explicit/42446049.json

@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "washer": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "stove": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "washer": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "washer", "stove"]
+}

data/spatial codes/ground truth/explicit/42446056.json

@@ -0,0 +1,159 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "3.9 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.66 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "3.75 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   }
+  },
+  "bed": {
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "bed", "table"]
+}

data/spatial codes/ground truth/explicit/42446103.json

@@ -0,0 +1,308 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.2 meters",
+      "y coordinate": "8.32 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.62 meters",
+      "y coordinate": "3.07 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "2.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.68 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "3.56 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "4.18 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "3.2 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.56 meters",
+      "y coordinate": "4.3 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "38.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "chair": {
+    "distance": "3.47 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "3.52 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.52 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.89 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.61 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.84 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.52 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.89 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.47 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.61 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.52 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["stove", "sofa", "table", "chair", "tv", "stool"]
+}

data/spatial codes/ground truth/explicit/42446116.json

@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}

data/spatial codes/ground truth/explicit/42446167.json

@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.37 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "3.97 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "4.14 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.33 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.22 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "toilet": {
+    "distance": "2.22 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.25 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.33 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "toilet", "tv"]
+}

data/spatial codes/ground truth/explicit/42446517.json

@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.2 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "2.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   }
+  },
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.77 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "bed", "tv"]
+}

data/spatial codes/ground truth/explicit/42446529.json

@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.1 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "2.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.71 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.39 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "3.71 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "table"]
+}

data/spatial codes/ground truth/explicit/42446535.json

@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub"]
+}

data/spatial codes/ground truth/explicit/42446541.json

@@ -0,0 +1,324 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.14 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.86 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.7 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "-1.79 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.55 meters",
+      "y coordinate": "-2.57 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-1.73 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "2.46 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.86 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.57 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "washer": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.12 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.86 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "3.12 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.29 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.57 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["washer", "refrigerator", "table", "chair", "sofa", "tv"]
+}

data/spatial codes/ground truth/explicit/42897508.json

@@ -0,0 +1,112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.32 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "3.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["sofa", "chair"]
+}

data/spatial codes/ground truth/explicit/42897528.json

@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "-2.52 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "sofa": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.33 meters",
+    "closeness rank": 2
+   }
+  },
+  "sofa": {
+   "refrigerator": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "2.33 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "washer", "sofa"]
+}

data/spatial codes/ground truth/explicit/42897554.json

@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.78 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}

data/spatial codes/ground truth/explicit/42898486.json

@@ -0,0 +1,253 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.53 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.14 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.63 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.78 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "stool", "fireplace", "tv"]
+}