diff --git a/data/spatial codes/ground truth/compact/09c1414f1b.json b/data/spatial codes/ground truth/compact/09c1414f1b.json
new file mode 100644
index 0000000000000000000000000000000000000000..41daf9b970a85aa35e43daa0d8aab7ef56b195fd
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/09c1414f1b.json	
@@ -0,0 +1,848 @@
+{
+ "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": [
+      5.54,
+      6.72,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      2.82,
+      0.88,
+      2.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.28,
+       -0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      9.65,
+      4.9,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      1.37,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.27,
+       -0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.14,
+      7.57,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      1.23,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.27,
+       -0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.31,
+      0.65,
+      1.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.24,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.96,
+       0.29,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.56,
+      1.03,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      1.66,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.38,
+       -0.93,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.04,
+      7.81,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.36,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.91,
+       -0.37,
+       -0.2
+      ],
+      [
+       0.42,
+       -0.76,
+       -0.51
+      ],
+      [
+       0.04,
+       -0.54,
+       0.84
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.47,
+      6.01,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.51,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.86,
+       -0.5,
+       0.11
+      ],
+      [
+       0.44,
+       -0.61,
+       0.66
+      ],
+      [
+       -0.26,
+       0.62,
+       0.74
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.62,
+      7.18,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.27,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.98,
+       0.18,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.85,
+      6.75,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.29,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.93,
+       0.36,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.53,
+      5.83,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      1.23,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.91,
+       0.2,
+       -0.36
+      ],
+      [
+       0.31,
+       0.91,
+       -0.28
+      ],
+      [
+       0.28,
+       -0.36,
+       -0.89
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.66,
+      8.2,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.27,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.24,
+       0.01
+      ],
+      [
+       -0.24,
+       0.97,
+       -0.08
+      ],
+      [
+       0.01,
+       -0.08,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.86,
+      7.49,
+      1.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.2,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.96,
+       0.29,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      6.62,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.67,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.88,
+       0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.47,
+       0.88,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.95,
+      5.49,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.06,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.94,
+       -0.34,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.61,
+      3.61,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.5,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.94,
+      0.53,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.04,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.61,
+       -0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.8,
+       0.61,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "suitcase": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.69,
+      3.97,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.27,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.92,
+       0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "shoe rack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.1,
+      3.6,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.44,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.26,
+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      1.86,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.44,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       -0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      2.17,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.55,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.3,
+       0.15
+      ],
+      [
+       -0.23,
+       0.9,
+       -0.36
+      ],
+      [
+       -0.24,
+       0.3,
+       0.92
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.81,
+      2.15,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.2,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.09,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 12.0
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.94,
+      0.56,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.27,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.28,
+       -0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      2.13,
+      1.24
+     ],
+     [
+      9.49,
+      1.24
+     ],
+     [
+      9.49,
+      8.59
+     ],
+     [
+      2.13,
+      8.59
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/0d2ee665be.json b/data/spatial codes/ground truth/compact/0d2ee665be.json
new file mode 100644
index 0000000000000000000000000000000000000000..53aff211a12e506771207370dbf68c23a4b5563f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/0d2ee665be.json	
@@ -0,0 +1,590 @@
+{
+ "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": {
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.66,
+      2.01,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.34,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       0.27,
+       0.18
+      ],
+      [
+       -0.22,
+       -0.12,
+       -0.97
+      ],
+      [
+       -0.24,
+       -0.95,
+       0.18
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.42,
+      4.24,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.55,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.1,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      4.06,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      1.48,
+      0.76,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.25,
+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "chair": [
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+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.22,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.54,
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+      ],
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+       0.0,
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+       0.0
+      ]
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+    },
+    "first visible time": 1.0
+   },
+   {
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+      2.83,
+      0.54
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+     "3D oriented bounding box dimensions": [
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+      0.78,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.38,
+       0.0
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+       0.92,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "keyboard": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.23,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.14,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
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+    "3D oriented bounding box": {
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+      2.46,
+      1.2
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.98,
+       0.0
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+       0.21,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
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+      1.69,
+      0.65
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+     "3D oriented bounding box dimensions": [
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+      1.01,
+      0.64
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.08,
+       0.96
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "laptop": [
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+      4.12,
+      0.95
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+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.18
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.63
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+       0.6,
+       -0.77
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash can": [
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+      3.75,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.86,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "pan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.88,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.3,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       -0.72,
+       -0.16
+      ],
+      [
+       0.74,
+       -0.67,
+       -0.06
+      ],
+      [
+       -0.06,
+       -0.15,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.79,
+      0.83,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.09,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.57,
+       -0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.59,
+      1.73,
+      1.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.31,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       -0.26,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.37,
+      0.18
+     ],
+     [
+      5.32,
+      0.18
+     ],
+     [
+      5.32,
+      4.12
+     ],
+     [
+      1.37,
+      4.12
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/13c3e046d7.json b/data/spatial codes/ground truth/compact/13c3e046d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f95893f48fcc9ea3332a3182a3bb39b8166172
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/13c3e046d7.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": {
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.47,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.98,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.06,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.37,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.91,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
+      [
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+       0.14,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
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+      0.88,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.68,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.29,
+       -0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.31,
+      -0.37
+     ],
+     [
+      6.08,
+      -0.37
+     ],
+     [
+      6.08,
+      4.4
+     ],
+     [
+      1.31,
+      4.4
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/1ada7a0617.json b/data/spatial codes/ground truth/compact/1ada7a0617.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfa4c9706a5b28c945b048a321a73f0c64c29e07
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/1ada7a0617.json	
@@ -0,0 +1,906 @@
+{
+ "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": {
+  "bucket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.69,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       -0.9,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      3.7,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.06,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
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+      3.96,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.23,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.17,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.46,
+      1.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.24,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+   {
+    "3D oriented bounding box": {
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+      0.53,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.86,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      3.32,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.15,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.83,
+       -0.56,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.67,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.02,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.95,
+       -0.32,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.12,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.02,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.34,
+       0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.62,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       -0.17,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.28,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
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+       0.96,
+       0.27,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.02,
+      2.78,
+      0.74
+     ],
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+      0.2,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.19,
+       -0.02
+      ],
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+       -0.98,
+       0.0
+      ],
+      [
+       -0.02,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.99,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.97,
+       -0.07
+      ],
+      [
+       -0.03,
+       0.07,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.22,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.52,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.13,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.65,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
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+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.06,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.53,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.58,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.51,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.38,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       0.38,
+       -0.92,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer tower": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.89,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.17,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.56,
+      2.65,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.13,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.16,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.38,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.98,
+       0.18,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.94,
+      1.78,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.04,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.86,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.05,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.69,
+      3.02,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.04,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.98,
+       -0.19,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.3,
+      3.0,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.04,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.38,
+       -0.93,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      2.74,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      2.09,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.98,
+       0.18,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.73,
+      0.13
+     ],
+     [
+      4.91,
+      0.13
+     ],
+     [
+      4.91,
+      4.3
+     ],
+     [
+      0.73,
+      4.3
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/21d970d8de.json b/data/spatial codes/ground truth/compact/21d970d8de.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2cf2f4502311625ee8901ff77ea93141334b4bb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/21d970d8de.json	
@@ -0,0 +1,1986 @@
+{
+ "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": {
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.5,
+      1.13,
+      1.43
+     ],
+     "3D oriented bounding box dimensions": [
+      2.01,
+      1.43,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.24,
+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      8.3,
+      5.75,
+      1.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.02,
+      2.18,
+      2.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.09,
+       -0.04
+      ],
+      [
+       0.1,
+       0.86,
+       0.49
+      ],
+      [
+       -0.01,
+       -0.5,
+       0.87
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.88,
+      1.54
+     ],
+     "3D oriented bounding box dimensions": [
+      2.01,
+      1.25,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.31,
+      8.11,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.35,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.04,
+       0.82
+      ],
+      [
+       -0.82,
+       -0.07,
+       -0.57
+      ],
+      [
+       0.04,
+       -1.0,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.59,
+      8.08,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.5,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.31,
+       -0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.52,
+      7.53,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.48,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.48,
+      7.35,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.48,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.36,
+       0.93,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.58,
+      8.28,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.38,
+       -0.93,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.51,
+      6.82,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.65,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.26,
+      5.87,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.6,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.13,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.16,
+      4.98,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.66,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.99,
+      4.49,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.7,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.16,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.88,
+      3.65,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.86,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.45,
+      2.35,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.43,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.16,
+       0.79
+      ],
+      [
+       -0.77,
+       0.18,
+       -0.61
+      ],
+      [
+       -0.24,
+       -0.97,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.49,
+      2.68,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.47,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.69,
+      3.48,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.48,
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      7.79,
+      2.95
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.24,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      5.28,
+      2.96
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.23,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.88,
+      2.97
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
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+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      4.36,
+      2.97
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.24,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.27,
+      2.97
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.19,
+      0.55
+     ],
+     "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": {
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+      2.73,
+      2.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.19,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.24,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.84,
+      2.97
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.19,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.24,
+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.54,
+      1.35,
+      2.99
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.14,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.26,
+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.03,
+      3.98,
+      3.09
+     ],
+     "3D oriented bounding box dimensions": [
+      2.47,
+      0.41,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.78,
+      1.09
+     ],
+     [
+      8.19,
+      1.09
+     ],
+     [
+      8.19,
+      8.5
+     ],
+     [
+      0.78,
+      8.5
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/25f3b7a318.json b/data/spatial codes/ground truth/compact/25f3b7a318.json
new file mode 100644
index 0000000000000000000000000000000000000000..301eaa9e47f7fa6214b74fd6ce42c8173b4f7c92
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/25f3b7a318.json	
@@ -0,0 +1,878 @@
+{
+ "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": {
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.02,
+      2.75,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.23
+     ],
+     "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": 7.0
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.41,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.51,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.18,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.3,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.83,
+       0.55,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.73,
+      2.57,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.47,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       0.23,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.52,
+      2.62,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      1.53,
+      0.06,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      2.08,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      2.09,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "shoe rack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.41,
+      2.57,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.69,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.09,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "shoes": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.64,
+      2.54,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.26,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.1,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.59,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.18,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      2.48,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.72,
+       -0.69,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.57,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.15,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.6,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.96,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.29,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.61,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.15,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.14,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.61,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.15,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       0.18,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.6,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       0.23,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.58,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.63,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.23,
+       0.04
+      ],
+      [
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+       0.57,
+       0.82
+      ],
+      [
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+       0.79,
+       -0.58
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.42,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.41,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.66,
+      0.62,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.53,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.05,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.31,
+      0.69,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.11,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.27,
+      0.26,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.27,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.04,
+       0.07
+      ],
+      [
+       -0.06,
+       0.97,
+       -0.23
+      ],
+      [
+       -0.05,
+       -0.23,
+       -0.97
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.84,
+      0.63,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.74,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       -0.04
+      ],
+      [
+       -0.04,
+       1.0,
+       -0.04
+      ],
+      [
+       0.04,
+       0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      1.32,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.17,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.08,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.21,
+      -0.51
+     ],
+     [
+      5.32,
+      -0.51
+     ],
+     [
+      5.32,
+      3.6
+     ],
+     [
+      1.21,
+      3.6
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/27dd4da69e.json b/data/spatial codes/ground truth/compact/27dd4da69e.json
new file mode 100644
index 0000000000000000000000000000000000000000..a327a2ee41fd2e308bd0e203ed3c3f0fb64a7143
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/27dd4da69e.json	
@@ -0,0 +1,952 @@
+{
+ "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": {
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      3.7,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      2.0,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.15,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.98,
+      4.54,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      2.0,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.24,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       0.24,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      9.83,
+      5.9,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      1.97,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.21,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      4.36,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      2.06,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       -0.2,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.96,
+      4.95,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      2.11,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.19,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      12.76,
+      2.76,
+      1.73
+     ],
+     "3D oriented bounding box dimensions": [
+      1.08,
+      0.11,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.72,
+       -0.69,
+       -0.05
+      ],
+      [
+       -0.68,
+       0.72,
+       -0.17
+      ],
+      [
+       0.15,
+       -0.09,
+       -0.98
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      12.06,
+      3.84,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.73,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.06
+      ],
+      [
+       -0.05,
+       -0.22,
+       0.97
+      ],
+      [
+       0.03,
+       -0.98,
+       -0.22
+      ]
+     ]
+    },
+    "first visible time": 15.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      11.51,
+      3.65,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.98,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.96,
+       0.28,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 15.0
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      10.08,
+      3.82,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      2.23,
+      1.04,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.12,
+      4.32,
+      1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.28,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.26,
+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.82,
+      0.33,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.13,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.14,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      12.2,
+      4.58,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.36,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.03
+      ],
+      [
+       0.08,
+       -0.19,
+       -0.98
+      ],
+      [
+       -0.24,
+       0.95,
+       -0.2
+      ]
+     ]
+    },
+    "first visible time": 14.0
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      12.55,
+      4.41,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.19,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 12.0
+   }
+  ],
+  "suitcase": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      8.3,
+      2.98,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.66,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.98,
+       0.2,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      8.27,
+      3.45,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.67,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.82,
+       0.57,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      8.2,
+      3.89,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.52,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.84,
+       0.54,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.45,
+      2.0,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.28,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.19,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.74,
+      0.77,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.73,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.66,
+       0.75,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.12,
+      2.46,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.25,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "pan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.49,
+      3.94,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.08,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.91,
+       -0.1,
+       -0.41
+      ],
+      [
+       0.41,
+       0.05,
+       -0.91
+      ],
+      [
+       0.11,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      9.74,
+      2.2,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.74,
+      0.87,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.27,
+       -0.07
+      ],
+      [
+       0.26,
+       -0.79,
+       0.55
+      ],
+      [
+       0.09,
+       -0.55,
+       -0.83
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.83,
+      4.22,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.05,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.08,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.45,
+      4.12,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.4,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       -0.15,
+       0.34
+      ],
+      [
+       -0.28,
+       -0.35,
+       -0.89
+      ],
+      [
+       0.26,
+       -0.92,
+       0.29
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      12.8,
+      3.01,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.26,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       -0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.75,
+       0.66,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 13.0
+   }
+  ],
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      12.93,
+      3.32,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.24,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.64,
+       -0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.76,
+       -0.64,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 16.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      3.85,
+      0.8
+     ],
+     [
+      9.7,
+      0.8
+     ],
+     [
+      9.7,
+      6.64
+     ],
+     [
+      3.85,
+      6.64
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/286b55a2bf.json b/data/spatial codes/ground truth/compact/286b55a2bf.json
new file mode 100644
index 0000000000000000000000000000000000000000..9055bd45eb4dd01983a85a3bfb4dd6bf70a7847d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/286b55a2bf.json	
@@ -0,0 +1,288 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.76,
+      0.53,
+      2.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.15,
+       0.01,
+       0.99
+      ],
+      [
+       -0.64,
+       0.76,
+       -0.1
+      ],
+      [
+       -0.76,
+       -0.65,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.31,
+      1.28,
+      2.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.08,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       -0.28
+      ],
+      [
+       0.28,
+       -0.02,
+       0.96
+      ],
+      [
+       0.0,
+       -1.0,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.28,
+      0.87,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.36,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.61,
+      0.09,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.09,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.48,
+      1.35,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.1,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.44,
+      -0.2
+     ],
+     [
+      2.26,
+      -0.2
+     ],
+     [
+      2.26,
+      1.63
+     ],
+     [
+      0.44,
+      1.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/31a2c91c43.json b/data/spatial codes/ground truth/compact/31a2c91c43.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d27db5df1d6a40aa41d072e03bae91108d05891
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/31a2c91c43.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": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.65,
+      1.56,
+      2.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.07,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.61,
+       -0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.79,
+       0.61,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.64,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.41,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.84,
+       0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.54,
+       0.84,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.91,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      2.28,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.48,
+       -0.88,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.45,
+      0.4
+     ],
+     [
+      2.76,
+      0.4
+     ],
+     [
+      2.76,
+      2.71
+     ],
+     [
+      0.45,
+      2.71
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/3864514494.json b/data/spatial codes/ground truth/compact/3864514494.json
new file mode 100644
index 0000000000000000000000000000000000000000..d04d841d2dea8e171e7fcf03e95349b060506e2c
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/3864514494.json	
@@ -0,0 +1,416 @@
+{
+ "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": {
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.74,
+      0.89,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      1.39,
+      0.41,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.36,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.62,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.53,
+      1.55,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.31,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.04,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      0.3,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.73,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.09,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.51,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.5,
+       -0.86,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.84,
+      1.84,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.24,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.97,
+       0.24,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.93,
+      1.8,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.09,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.42,
+       -0.91,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.82,
+      1.7,
+      1.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.25,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      0.83,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      2.11,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.05,
+      -0.4
+     ],
+     [
+      4.01,
+      -0.4
+     ],
+     [
+      4.01,
+      2.56
+     ],
+     [
+      1.05,
+      2.56
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/38d58a7a31.json b/data/spatial codes/ground truth/compact/38d58a7a31.json
new file mode 100644
index 0000000000000000000000000000000000000000..a588f1d5514e55118086143874d6e3eb075847b0
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/38d58a7a31.json	
@@ -0,0 +1,2218 @@
+{
+ "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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new file mode 100644
index 0000000000000000000000000000000000000000..5cf21247d23c080e2e75c89491d8082e6b06483e
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/3db0a1c8f3.json	
@@ -0,0 +1,1146 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "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": {
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.28
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ]
+     ]
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+    "first visible time": 14.0
+   }
+  ],
+  "refrigerator": [
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+      5.42,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0
+      ]
+     ]
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+      0.56
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+       0.2,
+       0.0
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+     ]
+    },
+    "first visible time": 7.0
+   },
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+      0.51
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+     "3D oriented bounding box dimensions": [
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+      ]
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+   },
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 7.0
+   }
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+   }
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+       0.95,
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+   },
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+       0.94,
+       0.0
+      ],
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+      ],
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+       0.33,
+       0.0
+      ]
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+   },
+   {
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+     ],
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+   }
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+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       -0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.81,
+       0.58,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.86,
+      1.23,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      2.38,
+      0.79,
+      1.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.23,
+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      2.56,
+      0.99
+     ],
+     [
+      10.15,
+      0.99
+     ],
+     [
+      10.15,
+      8.58
+     ],
+     [
+      2.56,
+      8.58
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/3e8bba0176.json b/data/spatial codes/ground truth/compact/3e8bba0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4709d33e88efbff1db0da4bad4b775abe20145e
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/3e8bba0176.json	
@@ -0,0 +1,938 @@
+{
+ "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": {
+  "coat hanger": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      0.42,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      1.83,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.26,
+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "paper bag": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.16,
+      2.35,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.29,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.5,
+       -0.87,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.19,
+      3.13,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      1.17,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.31,
+       0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.97,
+      0.98,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      1.18,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       0.17,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.52,
+      0.46,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.86,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.14,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       -0.14,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      3.47,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.86,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.01,
+      0.53,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.86,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       0.23,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.34,
+      3.89,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      2.43,
+      0.92,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.12,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.45,
+      0.3,
+      1.49
+     ],
+     "3D oriented bounding box dimensions": [
+      2.43,
+      1.25,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.11,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      2.77,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      2.1,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.09,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.8,
+      3.57,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.33,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.12,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      3.54,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.33,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.13,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.17,
+      2.43,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.56,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.09,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.05,
+      2.11,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.56,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.26,
+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.7,
+      2.07,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.53,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.58,
+      2.52,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.54,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.9,
+       0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.44,
+       0.9,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.12,
+      2.63,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.11,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.09,
+       -0.99,
+       0.06
+      ],
+      [
+       0.0,
+       -0.06,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.13,
+      1.85,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.01,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.17,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.15,
+      1.87,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.22,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.12,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.07,
+      2.71,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.8,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.12,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.32,
+      2.43,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      1.66,
+      0.89,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.12,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.46,
+      1.09,
+      2.94
+     ],
+     "3D oriented bounding box dimensions": [
+      1.33,
+      0.22,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.1,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.87,
+      3.2,
+      2.94
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      0.24,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.12,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      2.91,
+      2.91
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.17,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.08,
+      1.42,
+      2.92
+     ],
+     "3D oriented bounding box dimensions": [
+      1.35,
+      0.17,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.12,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.55,
+      0.01
+     ],
+     [
+      4.78,
+      0.01
+     ],
+     [
+      4.78,
+      4.24
+     ],
+     [
+      0.55,
+      4.24
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/3f15a9266d.json b/data/spatial codes/ground truth/compact/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb81cb49773d77dd0b4c48350b14f526a357f455
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/3f15a9266d.json	
@@ -0,0 +1,714 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.23,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.8,
+      0.52
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.4,
+       0.0
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+       0.0,
+       0.0,
+       1.0
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+       0.92,
+       0.0
+      ]
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+    "first visible time": null
+   },
+   {
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+      0.59,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.04,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       -0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.11,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.21,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.68,
+       0.74,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.61,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.8,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       0.0,
+       1.0
+      ],
+      [
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+       0.06,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
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+    "3D oriented bounding box": {
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+      2.23,
+      1.09
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+     "3D oriented bounding box dimensions": [
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+      2.15,
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bookshelf": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.01,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.08,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      2.98,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.04,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.05,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      1.63,
+      2.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.04,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.72,
+      2.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.66,
+      2.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.06,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
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+      2.94,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.1,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.42,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.42,
+       -0.91,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.28,
+      2.43,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.61,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.61,
+       0.79,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.59,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.09,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.12,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.7,
+      1.73,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.19,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.15,
+       0.2
+      ],
+      [
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+       0.97,
+       0.16
+      ],
+      [
+       -0.17,
+       -0.19,
+       0.97
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.24,
+      0.78,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.06,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.05
+      ],
+      [
+       -0.05,
+       1.0,
+       -0.03
+      ],
+      [
+       -0.06,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.26,
+      1.1,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.02,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.28,
+      0.56,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.37,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.61,
+       -0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.79,
+       0.61,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.49,
+      1.1,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.39,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.33,
+      -0.01
+     ],
+     [
+      3.78,
+      -0.01
+     ],
+     [
+      3.78,
+      3.43
+     ],
+     [
+      0.33,
+      3.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/40aec5fffa.json b/data/spatial codes/ground truth/compact/40aec5fffa.json
new file mode 100644
index 0000000000000000000000000000000000000000..aadfb9e98ba1c9df7e72e84ced6f6949bc0e5670
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/40aec5fffa.json	
@@ -0,0 +1,254 @@
+{
+ "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": {
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.92,
+      1.49,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      2.04,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.69,
+       -0.73,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.86,
+      1.73,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.33,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      0.79,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      2.11,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.02,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.77,
+      0.98,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      1.48,
+      0.42,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.06,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.12,
+      -0.45
+     ],
+     [
+      4.12,
+      -0.45
+     ],
+     [
+      4.12,
+      2.56
+     ],
+     [
+      1.12,
+      2.56
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41069025.json b/data/spatial codes/ground truth/compact/41069025.json
new file mode 100644
index 0000000000000000000000000000000000000000..931bcd7c43240ba9b3b3e3e2061f69ba82d18c77
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41069025.json	
@@ -0,0 +1,416 @@
+{
+ "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": {
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.73,
+      -0.93,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.62,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.54,
+       0.84,
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41069043.json b/data/spatial codes/ground truth/compact/41069043.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1b6c0e138c55b424e6a5f793e24b02b1e273333
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41069043.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"
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+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
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+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
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+         "y",
+         "height"
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+        [
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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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+      "components": [
+       [
+        "x",
+        "y"
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+       [
+        "x",
+        "y"
+       ]
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
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+        ]
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
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+      0.33
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41069048.json b/data/spatial codes/ground truth/compact/41069048.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fd5922f21b4059bd0428b09bc9b0d6c8919fb51
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41069048.json	
@@ -0,0 +1,186 @@
+{
+ "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"
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+      "3D oriented bounding box dimensions": {
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+        "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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+         "height"
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+        [
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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"
+     },
+     "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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+      0.45,
+      0.28
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+   }
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+      0.44,
+      0.38
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+      0.38,
+      0.75
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   }
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+ "room": {
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+      -2.29
+     ],
+     [
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+      -2.29
+     ],
+     [
+      1.13,
+      0.38
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+     [
+      -1.54,
+      0.38
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41125700.json b/data/spatial codes/ground truth/compact/41125700.json
new file mode 100644
index 0000000000000000000000000000000000000000..898c74273c906f7086add4267a97d4300c4b552f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41125700.json	
@@ -0,0 +1,446 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "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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+      "3D oriented bounding box dimensions": {
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+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
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+         "y",
+         "height"
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+        [
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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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+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+      0.47,
+      0.85
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+      3.19,
+      0.42
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+    "first visible time": null
+   }
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+      0.21
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+     "3D oriented bounding box orientation unit vectors": [
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+   }
+  ],
+  "chair": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.12,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.47,
+      1.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.72,
+       0.0
+      ],
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+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      2.96,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.45,
+      1.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       -0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.29,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.46,
+      1.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.73,
+       0.0
+      ],
+      [
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+       -0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.36,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.47,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.89,
+      0.22
+     ],
+     [
+      3.67,
+      0.22
+     ],
+     [
+      3.67,
+      5.77
+     ],
+     [
+      -1.89,
+      5.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41125731.json b/data/spatial codes/ground truth/compact/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..edeee1b7cd13ad3e4761698c2f697cc261a6f369
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41125731.json	
@@ -0,0 +1,184 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.14,
+      -2.15,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      2.15,
+      1.72,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.61,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.47,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      2.09,
+      1.73,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       -0.78,
+       0.0
+      ],
+      [
+       0.78,
+       -0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.17,
+      -3.41
+     ],
+     [
+      2.69,
+      -3.41
+     ],
+     [
+      2.69,
+      1.45
+     ],
+     [
+      -2.17,
+      1.45
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41125760.json b/data/spatial codes/ground truth/compact/41125760.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b8a803b690c48b4f38923b43f2476a1e4cc03d8
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41125760.json	
@@ -0,0 +1,186 @@
+{
+ "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": {
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.05,
+      -1.41,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.4,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.01
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      -1.1,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      1.65,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.01
+      ],
+      [
+       0.0,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.22,
+      -1.55
+     ],
+     [
+      0.98,
+      -1.55
+     ],
+     [
+      0.98,
+      1.65
+     ],
+     [
+      -2.22,
+      1.65
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41142280.json b/data/spatial codes/ground truth/compact/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d5d704c19d7c79721d08acc9193cd5a285cd9c2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41142280.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.09,
+      -1.16,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      1.67,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.69,
+      -0.19,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.38,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.55,
+      -0.25
+     ],
+     [
+      2.28,
+      -0.25
+     ],
+     [
+      2.28,
+      2.58
+     ],
+     [
+      -0.55,
+      2.58
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41159504.json b/data/spatial codes/ground truth/compact/41159504.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95172d10d22b7df7912ef1330d58a189a2b525e
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41159504.json	
@@ -0,0 +1,254 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      2.46,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      1.65,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.19,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.39,
+      2.64,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.51,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.19,
+       0.0
+      ],
+      [
+       -0.19,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.48,
+      3.65,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.37,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.19,
+       0.0
+      ],
+      [
+       -0.19,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      -1.4,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      2.81,
+      1.77,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.19,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.3,
+      -1.58
+     ],
+     [
+      3.14,
+      -1.58
+     ],
+     [
+      3.14,
+      2.87
+     ],
+     [
+      -1.3,
+      2.87
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41159525.json b/data/spatial codes/ground truth/compact/41159525.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f071ba1dcad9933fc9f76118ca4e534721807da
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41159525.json	
@@ -0,0 +1,352 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.36,
+      0.86
+     ],
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+      1.09,
+      0.23
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       -0.01,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
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+    "3D oriented bounding box": {
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+      -1.24,
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+      1.04,
+      1.77
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+    "3D oriented bounding box": {
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+      1.07,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
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+      1.05,
+      0.25
+     ],
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+      1.59,
+      0.51
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       1.0
+      ]
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+    "first visible time": null
+   },
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+      1.18,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.6,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.02,
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.21,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.27,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
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+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.99,
+      -2.05
+     ],
+     [
+      6.43,
+      -2.05
+     ],
+     [
+      6.43,
+      3.38
+     ],
+     [
+      0.99,
+      3.38
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41159530.json b/data/spatial codes/ground truth/compact/41159530.json
new file mode 100644
index 0000000000000000000000000000000000000000..f99c31e5c01b81a0dcba8ba9beb88711c57dbabe
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41159530.json	
@@ -0,0 +1,152 @@
+{
+ "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": {
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.32,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.81,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.87,
+       0.0
+      ],
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+       -0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -0.93
+     ],
+     [
+      1.85,
+      -0.93
+     ],
+     [
+      1.85,
+      4.04
+     ],
+     [
+      -3.12,
+      4.04
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41159541.json b/data/spatial codes/ground truth/compact/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e60f5a4a6850aafc58a99d1cba3aa4097cf3ca9
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41159541.json	
@@ -0,0 +1,606 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      0.47,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+       1.0
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+   },
+   {
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+       0.02,
+       1.0
+      ]
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+    "first visible time": null
+   }
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+      -2.03,
+      0.42
+     ],
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+      3.49,
+      0.75
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+       1.0
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+    "first visible time": null
+   },
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+      -1.54,
+      0.26
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+      0.52,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      -2.62,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
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+      ],
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+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
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+      -1.29,
+      0.53
+     ],
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+      0.44,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.95,
+       0.0
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+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.5,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      -1.59,
+      0.54
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      -1.32,
+      0.52
+     ],
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+     ],
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -2.34,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      1.0
+     ],
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+       -0.29,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -2.54,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -2.71,
+      0.56
+     ],
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+     ]
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+   },
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+      -2.69,
+      0.56
+     ],
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -3.61,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.87,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.64,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.14,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.47,
+      -3.16
+     ],
+     [
+      3.1,
+      -3.16
+     ],
+     [
+      3.1,
+      3.42
+     ],
+     [
+      -3.47,
+      3.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41159555.json b/data/spatial codes/ground truth/compact/41159555.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f5a12ffd9e3d57136e57fbae7dc85b3e017c041
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41159555.json	
@@ -0,0 +1,152 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.74,
+      1.57,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      2.1,
+      1.65,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.58,
+      -0.22
+     ],
+     [
+      2.75,
+      -0.22
+     ],
+     [
+      2.75,
+      5.11
+     ],
+     [
+      -2.58,
+      5.11
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41159572.json b/data/spatial codes/ground truth/compact/41159572.json
new file mode 100644
index 0000000000000000000000000000000000000000..d42eede576dcd84527a6de14508d05f571513b0b
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41159572.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": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      -1.59,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      1.02,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       -0.56,
+       -0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.72,
+      -3.71,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      2.11,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       -0.56,
+       -0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.14,
+      -0.75,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.68,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.21,
+       -0.98,
+       0.0
+      ],
+      [
+       0.98,
+       0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.73,
+      -4.37,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      1.55,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.61,
+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.18,
+      -0.43,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      2.24,
+      1.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       -0.59,
+       0.0
+      ],
+      [
+       0.59,
+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.66,
+      -3.13,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      1.07,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       -0.55,
+       0.0
+      ],
+      [
+       0.55,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.64,
+      -5.33,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.72,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       -0.56,
+       -0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.57,
+      -3.45,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.4,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.89,
+       0.45,
+       0.0
+      ],
+      [
+       -0.45,
+       -0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.73,
+      -3.99
+     ],
+     [
+      1.83,
+      -3.99
+     ],
+     [
+      1.83,
+      2.57
+     ],
+     [
+      -4.73,
+      2.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41254246.json b/data/spatial codes/ground truth/compact/41254246.json
new file mode 100644
index 0000000000000000000000000000000000000000..7478c5bdbcc17e65fff26f55e3a594fd27f9e35a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41254246.json	
@@ -0,0 +1,152 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.66,
+      3.05,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      2.1,
+      1.52,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.11,
+      -0.89
+     ],
+     [
+      3.71,
+      -0.89
+     ],
+     [
+      3.71,
+      2.94
+     ],
+     [
+      -0.11,
+      2.94
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41254386.json b/data/spatial codes/ground truth/compact/41254386.json
new file mode 100644
index 0000000000000000000000000000000000000000..292173a1db25e59f92c683c115393a00d6d8bb61
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41254386.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.51,
+      2.17,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.69,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       0.34,
+       0.0
+      ],
+      [
+       -0.34,
+       -0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      3.02,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.49,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.34,
+       -0.94,
+       0.0
+      ],
+      [
+       0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.05,
+      -0.29
+     ],
+     [
+      2.93,
+      -0.29
+     ],
+     [
+      2.93,
+      2.6
+     ],
+     [
+      0.05,
+      2.6
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41254402.json b/data/spatial codes/ground truth/compact/41254402.json
new file mode 100644
index 0000000000000000000000000000000000000000..fceb57bcbfbf090ae4bd08089b7456806888fc52
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41254402.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.21,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.52,
+      0.62
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.75,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.88
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.33,
+       0.0
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+       -0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.34
+     ],
+     [
+      3.85,
+      -1.34
+     ],
+     [
+      3.85,
+      2.03
+     ],
+     [
+      0.48,
+      2.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/41254432.json b/data/spatial codes/ground truth/compact/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce9fcf8fbce0552bfeac77c1560194cefa5fe337
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/41254432.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": [
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+      -0.02,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.77,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.92,
+       0.0
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+       -0.39,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      -0.38,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.49,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.57,
+      -2.27,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
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+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.54,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.71,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
+       -0.37,
+       0.0
+      ],
+      [
+       0.37,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -4.73,
+      -2.65
+     ],
+     [
+      0.88,
+      -2.65
+     ],
+     [
+      0.88,
+      2.97
+     ],
+     [
+      -4.73,
+      2.97
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42444950.json b/data/spatial codes/ground truth/compact/42444950.json
new file mode 100644
index 0000000000000000000000000000000000000000..24ee3b388e96e76ce2bdd7ef941c7de26cf656fe
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42444950.json	
@@ -0,0 +1,254 @@
+{
+ "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": [
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+      0.62,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      1.81,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
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+      3.0,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.07,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.0
+      ],
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+       -0.04,
+       1.0,
+       0.02
+      ],
+      [
+       0.0,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+    "3D oriented bounding box": {
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+      3.65,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.09,
+       0.0
+      ],
+      [
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+       -1.0,
+       -0.02
+      ],
+      [
+       0.0,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
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+    "3D oriented bounding box": {
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+      1.66,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.61,
+      1.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.99,
+      0.06
+     ],
+     [
+      0.63,
+      0.06
+     ],
+     [
+      0.63,
+      4.69
+     ],
+     [
+      -3.99,
+      4.69
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42444954.json b/data/spatial codes/ground truth/compact/42444954.json
new file mode 100644
index 0000000000000000000000000000000000000000..1763f8c20c28c0ad5f6e48af76b131ff6f81d8fb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42444954.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": {
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.27,
+      2.69,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.51,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.46,
+      2.29,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      1.58,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.25,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.53,
+      1.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.15,
+      -1.09
+     ],
+     [
+      0.58,
+      -1.09
+     ],
+     [
+      0.58,
+      1.64
+     ],
+     [
+      -2.15,
+      1.64
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42444976.json b/data/spatial codes/ground truth/compact/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..b762ed022b9acd61144fb3d601bf922da539c7f9
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42444976.json	
@@ -0,0 +1,352 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.07,
+      -1.53,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.69,
+      1.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.43,
+      -1.03,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.58,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.75,
+      0.26,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": null
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+      2.27,
+      0.45
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+     "3D oriented bounding box dimensions": [
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+       0.0,
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+      1.2,
+      0.44
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+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.89
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+      1.65,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
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+      1.65,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.05,
+      0.76
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.21,
+       0.0
+      ],
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+       -0.98,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
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+ },
+ "room": {
+  "floor boundary polygons": [
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+    "outer boundary coordinates": [
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+      -5.26,
+      -3.43
+     ],
+     [
+      -1.07,
+      -3.43
+     ],
+     [
+      -1.07,
+      0.76
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+      -5.26,
+      0.76
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42445026.json b/data/spatial codes/ground truth/compact/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..3222c3634b3bf94d126e38475dc399412a372ad0
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42445026.json	
@@ -0,0 +1,254 @@
+{
+ "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": {
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.85,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
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+      3.16,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.56,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.17,
+       0.0
+      ],
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+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.48,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.28,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
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+       -0.16,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
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+     "3D oriented bounding box center coordinates": [
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+      1.65,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.62,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
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+       0.16,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      0.56
+     ],
+     [
+      2.07,
+      0.56
+     ],
+     [
+      2.07,
+      3.98
+     ],
+     [
+      -1.34,
+      3.98
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42445031.json b/data/spatial codes/ground truth/compact/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..facc6412a0ef20861f5997f3219c1fcd9f84e7c9
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42445031.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.43,
+      3.52,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      2.06,
+      1.5,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.8,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.15,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.03
+      ],
+      [
+       -1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
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+      4.02,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.05,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.38,
+      0.43
+     ],
+     [
+      2.0,
+      0.43
+     ],
+     [
+      2.0,
+      4.81
+     ],
+     [
+      -2.38,
+      4.81
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42445429.json b/data/spatial codes/ground truth/compact/42445429.json
new file mode 100644
index 0000000000000000000000000000000000000000..318918753dcc71cca6357b855c85f54ec004f314
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42445429.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": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.46,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      1.9,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.25,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.56,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.08,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.1,
+      1.52,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      1.08,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.49,
+      -2.12
+     ],
+     [
+      -1.46,
+      -2.12
+     ],
+     [
+      -1.46,
+      1.91
+     ],
+     [
+      -5.49,
+      1.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42445981.json b/data/spatial codes/ground truth/compact/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..94f3bd0a28a6cf4552ee63e7628fca41e3382c5d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42445981.json	
@@ -0,0 +1,510 @@
+{
+ "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": [
+      -2.38,
+      1.73,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      1.5,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.87,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42445984.json b/data/spatial codes/ground truth/compact/42445984.json
new file mode 100644
index 0000000000000000000000000000000000000000..26aeca22ec5cfd7b90f88e2f647a3162ee6bb9ad
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42445984.json	
@@ -0,0 +1,572 @@
+{
+ "spatial code schema": {
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+   "<object class>": [
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+      "3D oriented bounding box center coordinates": {
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+        "dimension 2",
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+       1.0
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+    "first visible time": null
+   }
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+      1.31
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
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+      -1.42
+     ],
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+      -1.42
+     ],
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42446049.json b/data/spatial codes/ground truth/compact/42446049.json
new file mode 100644
index 0000000000000000000000000000000000000000..61645f20ff4b27cf743ee234cdba887efe616b30
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42446049.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": [
+        [
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+         "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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+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      0.69,
+      0.93
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+      0.89,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+   }
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+      -1.86
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+     [
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+      -1.86
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+     ]
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42446056.json b/data/spatial codes/ground truth/compact/42446056.json
new file mode 100644
index 0000000000000000000000000000000000000000..46940cc877baabbcb1f40d6efa51f137b7ef404e
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42446056.json	
@@ -0,0 +1,316 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "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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+      "3D oriented bounding box dimensions": {
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+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+       "components": [
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+         "y",
+         "height"
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+        [
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+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
+         "x",
+         "y"
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+        [
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+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+    }
+   ]
+  }
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+      0.32
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+      0.55,
+      0.61
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+       1.0
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+   }
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+      1.16,
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+      0.9,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
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+      3.75,
+      0.2
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+     "3D oriented bounding box dimensions": [
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+      0.49,
+      0.38
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   }
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+      -3.69,
+      3.68
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42446103.json b/data/spatial codes/ground truth/compact/42446103.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1e1004af6c48f8c1359421eba2ad427c725211a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42446103.json	
@@ -0,0 +1,450 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      8.32,
+      0.91
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+       0.0,
+       1.0
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+      3.07,
+      0.46
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+       0.0,
+       1.0
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+   },
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+      2.14,
+      0.41
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+      3.56,
+      0.42
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+      1.1,
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+      ],
+      [
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+       0.0,
+       1.0
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+      2.55,
+      0.37
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+      0.65,
+      0.7
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": null
+   }
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+      4.18,
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+      0.47,
+      0.91
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": null
+   },
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+      3.2,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.63,
+      0.81
+     ],
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+       0.57,
+       0.0
+      ],
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+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.9,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.37,
+      1.65
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.88,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
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+      ],
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.3,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.28,
+      1.34
+     ],
+     [
+      0.94,
+      1.34
+     ],
+     [
+      0.94,
+      7.56
+     ],
+     [
+      -5.28,
+      7.56
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42446116.json b/data/spatial codes/ground truth/compact/42446116.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41fb7ac3ae9ec9eebdc6d5ae9a21b6ca79b3ee6
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42446116.json	
@@ -0,0 +1,152 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      2.54,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.74,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.14
+     ],
+     [
+      1.75,
+      -1.14
+     ],
+     [
+      1.75,
+      2.71
+     ],
+     [
+      -2.11,
+      2.71
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42446151.json b/data/spatial codes/ground truth/compact/42446151.json
new file mode 100644
index 0000000000000000000000000000000000000000..7951561fac7ece8b773c30617af03ae863bf9bb3
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42446151.json	
@@ -0,0 +1,448 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.84,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.87,
+      0.9
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       0.1,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
+   {
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+      3.7,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.15,
+      0.94
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.59,
+       0.0
+      ],
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": null
+   },
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+    "3D oriented bounding box": {
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+      4.96,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.58,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.78,
+      0.46
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+     "3D oriented bounding box dimensions": [
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+      0.69,
+      0.76
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+      3.23,
+      0.19
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+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
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+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+      5.6,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       0.0
+      ],
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+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.81,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.98,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      6.08,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.11,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.79,
+       0.0
+      ],
+      [
+       0.79,
+       -0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      6.48,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.19,
+      1.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      5.96,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.92,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.61,
+       -0.79,
+       0.0
+      ],
+      [
+       0.79,
+       -0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.06,
+      1.91
+     ],
+     [
+      1.09,
+      1.91
+     ],
+     [
+      1.09,
+      7.07
+     ],
+     [
+      -4.06,
+      7.07
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42446167.json b/data/spatial codes/ground truth/compact/42446167.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a2b588008cb533d7857a3bc76c9e28861d28782
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42446167.json	
@@ -0,0 +1,254 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.37,
+      1.85,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      2.11,
+      1.74,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.97,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      1.45,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.54,
+      4.14,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.47,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.08,
+      1.54,
+      1.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.58,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.48,
+      -0.73
+     ],
+     [
+      0.07,
+      -0.73
+     ],
+     [
+      0.07,
+      3.82
+     ],
+     [
+      -4.48,
+      3.82
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42446517.json b/data/spatial codes/ground truth/compact/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..22bbac284619fbc0e0e411e7260a77817cf15a92
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42446517.json	
@@ -0,0 +1,350 @@
+{
+ "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": {
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.17,
+      2.42,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      1.03,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.49,
+       -0.87,
+       0.0
+      ],
+      [
+       0.87,
+       0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.36,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.05,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.14,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.37,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.04,
+      0.82,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.63,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.49,
+       -0.87,
+       0.0
+      ],
+      [
+       0.87,
+       0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.6,
+      0.33,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      2.12,
+      1.16,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.49,
+      -0.27,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      2.12,
+      1.11,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.24,
+      1.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.11,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.88,
+       -0.13
+      ],
+      [
+       0.89,
+       0.46,
+       -0.01
+      ],
+      [
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+       -0.12,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.13,
+      -1.97
+     ],
+     [
+      3.63,
+      -1.97
+     ],
+     [
+      3.63,
+      2.79
+     ],
+     [
+      -1.13,
+      2.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42446529.json b/data/spatial codes/ground truth/compact/42446529.json
new file mode 100644
index 0000000000000000000000000000000000000000..8249a682d1d109679efa4f610bf653d6c4c2a425
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42446529.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.73,
+      -0.3,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      2.16,
+      1.63,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.72,
+      0.35,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.41,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       -0.61,
+       0.0
+      ],
+      [
+       0.61,
+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.1,
+      -0.64,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.46,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.4,
+      -2.21
+     ],
+     [
+      1.07,
+      -2.21
+     ],
+     [
+      1.07,
+      2.26
+     ],
+     [
+      -3.4,
+      2.26
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42446535.json b/data/spatial codes/ground truth/compact/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..feecb4b965213f39a92778a81079c3e649847ced
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42446535.json	
@@ -0,0 +1,186 @@
+{
+ "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": {
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      0.55,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.41,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.83,
+       -0.56,
+       0.01
+      ],
+      [
+       0.56,
+       -0.83,
+       0.0
+      ],
+      [
+       0.01,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.83,
+      -0.88,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      1.55,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.01
+      ],
+      [
+       0.01,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.59,
+      -1.3
+     ],
+     [
+      0.61,
+      -1.3
+     ],
+     [
+      0.61,
+      1.9
+     ],
+     [
+      -2.59,
+      1.9
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42446541.json b/data/spatial codes/ground truth/compact/42446541.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b7a054191e9b28b6c1e00af0d7510828930aeb2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42446541.json	
@@ -0,0 +1,514 @@
+{
+ "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": {
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.14,
+      1.8,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.62,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       -0.47,
+       0.0
+      ],
+      [
+       0.47,
+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.86,
+      2.35,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.6,
+      1.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       -0.47,
+       0.0
+      ],
+      [
+       0.47,
+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.35,
+      0.69,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.93,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       -0.47,
+       0.0
+      ],
+      [
+       0.47,
+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.16,
+      -1.79,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.61,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.88,
+       0.48,
+       0.0
+      ],
+      [
+       -0.48,
+       -0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.55,
+      -2.57,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      1.02,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.48,
+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.68,
+      0.92,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.45,
+      1.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       -0.47,
+       0.0
+      ],
+      [
+       0.47,
+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.6,
+      0.23,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.47,
+      1.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.99,
+      0.55,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.45,
+      1.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.88,
+       0.47,
+       0.0
+      ],
+      [
+       -0.47,
+       -0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.12,
+      1.21,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.46,
+      1.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.46,
+       -0.89,
+       0.0
+      ],
+      [
+       0.89,
+       -0.46,
+       -0.02
+      ],
+      [
+       0.02,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.3,
+      -0.71,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.76,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.48,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      -1.73,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      2.46,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.48,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.15,
+      0.26,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      1.19,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       -0.88,
+       0.0
+      ],
+      [
+       0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.37,
+      -3.58
+     ],
+     [
+      1.46,
+      -3.58
+     ],
+     [
+      1.46,
+      2.25
+     ],
+     [
+      -4.37,
+      2.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42897508.json b/data/spatial codes/ground truth/compact/42897508.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e85c5626e519359cc433119cda02fe3a77d8641
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42897508.json	
@@ -0,0 +1,218 @@
+{
+ "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": [
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+      -0.75,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      3.08,
+      0.72
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.9,
+       0.0
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+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.13,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.27,
+      0.51
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.43,
+       0.0
+      ],
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+       0.9,
+       0.0
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   }
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+      0.65,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.88
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.36,
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+      ],
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+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.07,
+      -2.06
+     ],
+     [
+      4.47,
+      -2.06
+     ],
+     [
+      4.47,
+      2.48
+     ],
+     [
+      -0.07,
+      2.48
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42897528.json b/data/spatial codes/ground truth/compact/42897528.json
new file mode 100644
index 0000000000000000000000000000000000000000..497526dc3a8483dc75ba753e8e16b7fa1024f1fd
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42897528.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": {
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      -1.29,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.61,
+      1.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.73,
+       0.0
+      ],
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+       0.68,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.93,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.63,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.73,
+       0.0
+      ],
+      [
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+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
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+    "3D oriented bounding box": {
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+      -2.52,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.14,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.17,
+      -1.49
+     ],
+     [
+      1.28,
+      -1.49
+     ],
+     [
+      1.28,
+      1.96
+     ],
+     [
+      -2.17,
+      1.96
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42897538.json b/data/spatial codes/ground truth/compact/42897538.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebbd7690f0b51f5203690835ccb893e3c96a6993
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42897538.json	
@@ -0,0 +1,384 @@
+{
+ "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": {
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
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+      2.96,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.6,
+      1.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.68,
+       0.0
+      ],
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+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
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+    "3D oriented bounding box": {
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+      1.61,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.54,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.68,
+       0.0
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+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.51,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.28,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.66,
+       0.0
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+      [
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+       -0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+      0.93,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
+   {
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+      -0.76,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.93,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.72,
+       0.0
+      ],
+      [
+       0.72,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      0.03,
+      1.78,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.19,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       -0.75,
+       0.0
+      ],
+      [
+       0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      -0.45,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.67,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.05,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.26,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       -0.74,
+       0.0
+      ],
+      [
+       0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.64,
+      -2.82
+     ],
+     [
+      2.75,
+      -2.82
+     ],
+     [
+      2.75,
+      2.57
+     ],
+     [
+      -2.64,
+      2.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42897550.json b/data/spatial codes/ground truth/compact/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..36a69345d405d9b36092576579e2719e80083c9a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42897550.json	
@@ -0,0 +1,186 @@
+{
+ "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": {
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.57,
+      -0.57,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.36,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      0.3,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      1.61,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.34,
+       -0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.66,
+      -2.49
+     ],
+     [
+      -0.59,
+      -2.49
+     ],
+     [
+      -0.59,
+      0.58
+     ],
+     [
+      -3.66,
+      0.58
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42897554.json b/data/spatial codes/ground truth/compact/42897554.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc108f4464beebf92f43b670e8ec52b0c517e71b
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42897554.json	
@@ -0,0 +1,152 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.78,
+      1.74,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      2.09,
+      1.05,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.35,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       -0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.46,
+      -0.82
+     ],
+     [
+      4.08,
+      -0.82
+     ],
+     [
+      4.08,
+      2.8
+     ],
+     [
+      0.46,
+      2.8
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42897564.json b/data/spatial codes/ground truth/compact/42897564.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba0e486e511333c5e1f932f389797fab75fd0c66
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42897564.json	
@@ -0,0 +1,446 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      2.7,
+      0.48
+     ],
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+      0.49,
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+       0.0,
+       1.0
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+   },
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+      0.49
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+      0.44,
+      0.99
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+      0.49
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+      0.47,
+      0.97
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+       1.0
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+       1.0
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+      0.51,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+      1.62,
+      0.44
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+     "3D oriented bounding box dimensions": [
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+      0.53,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+    "3D oriented bounding box": {
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+      1.79,
+      0.54
+     ],
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+      0.65,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.65,
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+      ],
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      -0.74,
+      0.26
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+     "3D oriented bounding box dimensions": [
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+      0.71,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.63,
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+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
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+    "3D oriented bounding box": {
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+      -0.94,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.46,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.71,
+       0.0
+      ],
+      [
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+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -0.29
+     ],
+     [
+      2.49,
+      -0.29
+     ],
+     [
+      2.49,
+      3.82
+     ],
+     [
+      -1.63,
+      3.82
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42897629.json b/data/spatial codes/ground truth/compact/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..151013d59aadc103ae6f428179714a2d30d2eb1b
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42897629.json	
@@ -0,0 +1,644 @@
+{
+ "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": {
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -3.2,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.23,
+      0.76
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+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
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+    "first visible time": null
+   },
+   {
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+      3.18,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      3.03,
+      0.94
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+    "first visible time": null
+   },
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+      1.79,
+      0.39
+     ],
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+      0.67,
+      0.74
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+       1.0
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+    "first visible time": null
+   },
+   {
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+      0.3,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.75
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": null
+   }
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+      2.41,
+      0.5
+     ],
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+      0.46,
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+       1.0
+      ]
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+    "first visible time": null
+   },
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+     ],
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+      ],
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+       1.0
+      ]
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+   },
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+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       -0.01,
+       1.0
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+    "first visible time": null
+   },
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+       1.0,
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+      ],
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+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.3,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       -0.06,
+       0.01
+      ],
+      [
+       0.01,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.36,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.99,
+      1.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.03,
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+      ],
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+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
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+    "3D oriented bounding box": {
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+      4.46,
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+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.51,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      4.16,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.07,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      6.83
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42897647.json b/data/spatial codes/ground truth/compact/42897647.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7778af12c78150f8ec2046258a9f62b5f16a2fd
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42897647.json	
@@ -0,0 +1,382 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
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+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
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+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+       "components": [
+        [
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+         "y",
+         "height"
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+        [
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+         "height"
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+        [
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+         "height"
+        ]
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+       "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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+       [
+        "x",
+        "y"
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+       [
+        "x",
+        "y"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+    }
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+ },
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+      1.35,
+      0.53
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+      0.52
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+      0.92
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+       0.01,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
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+  "tv": [
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+      0.96
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
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+      -2.54
+     ],
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+      -2.54
+     ],
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+      3.57
+     ],
+     [
+      -1.46,
+      3.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42897688.json b/data/spatial codes/ground truth/compact/42897688.json
new file mode 100644
index 0000000000000000000000000000000000000000..b72de457bdcb7bc78d17aad2605d04ff6c40edf7
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42897688.json	
@@ -0,0 +1,286 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.67,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.0,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
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+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.29,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.53,
+      0.83
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      -3.94,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.93,
+       0.0
+      ],
+      [
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+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -3.22,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.97,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.03,
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+      ],
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+      -4.71,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.98,
+      0.75
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
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+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
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+    "outer boundary coordinates": [
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+      -4.06
+     ],
+     [
+      5.74,
+      -4.06
+     ],
+     [
+      5.74,
+      1.52
+     ],
+     [
+      0.16,
+      1.52
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42897692.json b/data/spatial codes/ground truth/compact/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd5f006e5e0054be1529c4fb0e498196d31ce92c
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42897692.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.98,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.66,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       -0.01
+      ],
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+       -1.0,
+       0.01
+      ],
+      [
+       -0.01,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
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+      1.79,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       -0.01
+      ],
+      [
+       -0.04,
+       -1.0,
+       0.01
+      ],
+      [
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+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
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+    "3D oriented bounding box": {
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+      3.48,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.98,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
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+      ],
+      [
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+       -1.0,
+       0.01
+      ],
+      [
+       -0.01,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.64
+     ],
+     [
+      0.04,
+      -1.64
+     ],
+     [
+      0.04,
+      4.04
+     ],
+     [
+      -5.64,
+      4.04
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42898486.json b/data/spatial codes/ground truth/compact/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3e9eee65b7c248f581ca8f079620b63ea90f901
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42898486.json	
@@ -0,0 +1,416 @@
+{
+ "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": [
+      2.53,
+      1.51,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      1.65,
+      1.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.14,
+      3.32,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      2.13,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.9,
+      3.28,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      1.16,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      1.16,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.53,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.63,
+      1.84,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.48,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.5,
+      1.93,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.84,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      1.16,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.44,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.38,
+      3.3,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      1.39,
+      1.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.32,
+      3.3,
+      1.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.98,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       -0.05
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.05,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.03,
+      -1.91
+     ],
+     [
+      4.85,
+      -1.91
+     ],
+     [
+      4.85,
+      3.97
+     ],
+     [
+      -1.03,
+      3.97
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42898527.json b/data/spatial codes/ground truth/compact/42898527.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cb9d278f10f84c598471adf3643e8a125a1f0fb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42898527.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.32,
+      2.25,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.58,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.45,
+      2.89,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.59,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.46,
+      3.58,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.75,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      4.31,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.63,
+      1.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      3.82,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.48,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.42,
+      3.03,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.44,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.19,
+      0.13
+     ],
+     [
+      0.38,
+      0.13
+     ],
+     [
+      0.38,
+      4.71
+     ],
+     [
+      -4.19,
+      4.71
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42898544.json b/data/spatial codes/ground truth/compact/42898544.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5dd075a3c322c80e8954af3e1a6807cc44d490
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42898544.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      3.89,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.98,
+      1.4,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       -0.73,
+       0.0
+      ],
+      [
+       0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      4.54,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      1.22,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.84,
+      4.27,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.47,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.72,
+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       -0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.16,
+      -0.23
+     ],
+     [
+      2.67,
+      -0.23
+     ],
+     [
+      2.67,
+      4.6
+     ],
+     [
+      -2.16,
+      4.6
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42898581.json b/data/spatial codes/ground truth/compact/42898581.json
new file mode 100644
index 0000000000000000000000000000000000000000..8721d76403d0fabaef6a996f5f94f54b2509b1d9
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42898581.json	
@@ -0,0 +1,286 @@
+{
+ "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"
+     }
+    }
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+        "x",
+        "y"
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+       [
+        "x",
+        "y"
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+      "description": "ordered vertices enclosing one floor region"
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+         "y"
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+        [
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+        ]
+       ]
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+    }
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+      2.94,
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+       0.01,
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+    "first visible time": null
+   }
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+     ],
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42898817.json b/data/spatial codes/ground truth/compact/42898817.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff37fcafbeb3d7a41a97528888fee0d5e5685ad6
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42898817.json	
@@ -0,0 +1,152 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      0.14,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
+      0.91
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+   }
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+      -1.86
+     ],
+     [
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+      -1.86
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+     [
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+      1.36
+     ],
+     [
+      -3.67,
+      1.36
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42898826.json b/data/spatial codes/ground truth/compact/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..af38f2098f9cfa7a42d2b74b54b8ef360784429b
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42898826.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
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+      -0.16,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.89,
+      0.61
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+    "first visible time": null
+   }
+  ],
+  "toilet": [
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+      1.65,
+      0.4
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+      0.39,
+      0.81
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
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+      -1.74
+     ],
+     [
+      0.75,
+      -1.74
+     ],
+     [
+      0.75,
+      2.1
+     ],
+     [
+      -3.1,
+      2.1
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42898849.json b/data/spatial codes/ground truth/compact/42898849.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3fdb8d3bf15469f68f2b86dd2917850caf8c47a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42898849.json	
@@ -0,0 +1,674 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "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",
+        "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",
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+         "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"
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+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      7.09,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.64,
+      0.46
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+       0.0,
+       1.0
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+    "first visible time": null
+   }
+  ],
+  "fireplace": [
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+      5.23,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+   }
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+      1.4,
+      0.45
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+     "3D oriented bounding box orientation unit vectors": [
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+      0.92,
+      0.29
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+       1.0
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+   },
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+   },
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+    "first visible time": null
+   }
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+      3.62,
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+   },
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+       1.0
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+   }
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42898869.json b/data/spatial codes/ground truth/compact/42898869.json
new file mode 100644
index 0000000000000000000000000000000000000000..52975806f001791d7819e33f47dce25fd3bcfdd7
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42898869.json	
@@ -0,0 +1,218 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "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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+      "3D oriented bounding box dimensions": {
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+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
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+         "height"
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+        [
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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"
+      }
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+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
+         "x",
+         "y"
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+        [
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+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+      3.87,
+      0.34
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+      2.25,
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+       1.0
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+    "first visible time": null
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+      5.2,
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+     "3D oriented bounding box dimensions": [
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+      0.78,
+      0.55
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.06,
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+      ]
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+    "first visible time": null
+   }
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+ "room": {
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42899461.json b/data/spatial codes/ground truth/compact/42899461.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9c101a5a6c3b131a351527a64da84609b4f2781
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899461.json	
@@ -0,0 +1,482 @@
+{
+ "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"
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+      "3D oriented bounding box dimensions": {
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+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+      "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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+         "y",
+         "height"
+        ]
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+      5.9,
+      0.48
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+       1.0
+      ]
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+   }
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+   }
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+       1.0
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+       0.0,
+       1.0
+      ]
+     ]
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+   },
+   {
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+      4.77,
+      0.52
+     ],
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+      0.53,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
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+      ],
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+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      4.81,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.53,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
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+    "3D oriented bounding box": {
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+      1.59,
+      0.88
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+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.68,
+      -0.56
+     ],
+     [
+      2.51,
+      -0.56
+     ],
+     [
+      2.51,
+      5.63
+     ],
+     [
+      -3.68,
+      5.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42899612.json b/data/spatial codes/ground truth/compact/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..477be6e9ac6451a19cb599abfa6d68636161f569
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899612.json	
@@ -0,0 +1,350 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.81,
+      4.59,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.91,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
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+     ]
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+   }
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+    "3D oriented bounding box": {
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+      5.29,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.63
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+      5.35,
+      0.34
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+     "3D oriented bounding box dimensions": [
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+      0.59,
+      0.68
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      2.98,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.58,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.14,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.37,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.44,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.65,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.39,
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.78,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.84,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.52,
+       0.0
+      ],
+      [
+       0.52,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.62,
+      -1.0
+     ],
+     [
+      2.72,
+      -1.0
+     ],
+     [
+      2.72,
+      4.35
+     ],
+     [
+      -2.62,
+      4.35
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42899617.json b/data/spatial codes/ground truth/compact/42899617.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7c553098cbb82f8850817480476579c49df20cd
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899617.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.15,
+      -0.75,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      1.74,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
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+       0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.61,
+      -0.12,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.52,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.16,
+       0.0
+      ],
+      [
+       -0.16,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.27,
+      -2.12
+     ],
+     [
+      3.28,
+      -2.12
+     ],
+     [
+      3.28,
+      0.89
+     ],
+     [
+      0.27,
+      0.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42899685.json b/data/spatial codes/ground truth/compact/42899685.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa98d1a4e648ce1f14f44b92195430539d7db76
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899685.json	
@@ -0,0 +1,612 @@
+{
+ "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": {
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.61,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.58,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.25,
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+      ],
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.03,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.62,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.78,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.46,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.67,
+      2.23,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      1.44,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.27,
+       -0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.33,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.25,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.67,
+       0.0
+      ],
+      [
+       -0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
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+      2.11,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.05,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.27,
+       0.0
+      ],
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+       0.27,
+       -0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      4.12,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.01,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.83,
+       0.0
+      ],
+      [
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+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      3.57,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.23,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.97,
+       0.0
+      ],
+      [
+       0.97,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.13,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.27,
+       0.0
+      ],
+      [
+       0.27,
+       -0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      4.07,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.9,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.82,
+       0.0
+      ],
+      [
+       0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.62,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.97,
+       0.0
+      ],
+      [
+       0.97,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.08,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
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+       -0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      -0.81,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.43,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       -0.98,
+       0.0
+      ],
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.49,
+      -0.72,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.43,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.98,
+       0.0
+      ],
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.57,
+      -1.17,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.43,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.56,
+      -1.59
+     ],
+     [
+      1.46,
+      -1.59
+     ],
+     [
+      1.46,
+      4.43
+     ],
+     [
+      -4.56,
+      4.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42899696.json b/data/spatial codes/ground truth/compact/42899696.json
new file mode 100644
index 0000000000000000000000000000000000000000..17808bab14632e9f480b622f66031580629e2d38
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899696.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      1.34,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      2.06,
+      1.6,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       0.37,
+       0.0
+      ],
+      [
+       -0.37,
+       -0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.84,
+      0.09,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.58,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       0.37,
+       0.0
+      ],
+      [
+       -0.37,
+       -0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.66,
+      2.07,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.63,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       0.37,
+       0.0
+      ],
+      [
+       -0.37,
+       -0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.29,
+      3.94,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      1.49,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       -0.97,
+       0.0
+      ],
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.9,
+      2.98,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.53,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.83,
+      3.62,
+      1.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.69,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       -0.63,
+       0.0
+      ],
+      [
+       0.63,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.89,
+      -0.56
+     ],
+     [
+      2.65,
+      -0.56
+     ],
+     [
+      2.65,
+      4.98
+     ],
+     [
+      -2.89,
+      4.98
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42899698.json b/data/spatial codes/ground truth/compact/42899698.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba216f1fd3839efc8397ec1bf81272c9cbb07d0
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899698.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.85,
+      0.19,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      1.69,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.41,
+       -0.91,
+       0.0
+      ],
+      [
+       0.91,
+       -0.41,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.73,
+      -0.48,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.41,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.4,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.65,
+      -0.46
+     ],
+     [
+      1.84,
+      -0.46
+     ],
+     [
+      1.84,
+      3.03
+     ],
+     [
+      -1.65,
+      3.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42899739.json b/data/spatial codes/ground truth/compact/42899739.json
new file mode 100644
index 0000000000000000000000000000000000000000..87f03f5c3f975254f57c9ddb5dd7c37c6a5341d8
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899739.json	
@@ -0,0 +1,152 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      1.17,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      2.26,
+      1.58,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.57,
+       -0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.02,
+      -1.54
+     ],
+     [
+      1.77,
+      -1.54
+     ],
+     [
+      1.77,
+      3.25
+     ],
+     [
+      -3.02,
+      3.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45260900.json b/data/spatial codes/ground truth/compact/45260900.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bd4a96420622748a874cde720f67a237b23bbcc
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45260900.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.38,
+      -0.46,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      1.72,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       -0.82,
+       0.0
+      ],
+      [
+       0.82,
+       -0.57,
+       0.01
+      ],
+      [
+       -0.01,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.52,
+      -1.16,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.39,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       -0.82,
+       0.0
+      ],
+      [
+       0.82,
+       -0.57,
+       0.01
+      ],
+      [
+       -0.01,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.11,
+      -1.48
+     ],
+     [
+      4.01,
+      -1.48
+     ],
+     [
+      4.01,
+      1.43
+     ],
+     [
+      1.11,
+      1.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45261620.json b/data/spatial codes/ground truth/compact/45261620.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7bbf990902fb5d490b93d98e4278f9b41ba7b2e
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45261620.json	
@@ -0,0 +1,250 @@
+{
+ "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": [
+      -2.02,
+      2.08,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.08,
+      2.86,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      1.18,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.92,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.28,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.12,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       -0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.39,
+      3.67,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.21,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.86,
+      -0.56
+     ],
+     [
+      0.63,
+      -0.56
+     ],
+     [
+      0.63,
+      3.92
+     ],
+     [
+      -3.86,
+      3.92
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45261637.json b/data/spatial codes/ground truth/compact/45261637.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1a2556dab08a592a9bd7162c06aafee4186c39
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45261637.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.04,
+      3.88,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      2.09,
+      1.59,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.73,
+       -0.69,
+       0.0
+      ],
+      [
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+       -0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.77,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.67,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.62,
+       -0.2
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.15,
+       0.13,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.83,
+      0.45
+     ],
+     [
+      1.87,
+      0.45
+     ],
+     [
+      1.87,
+      4.14
+     ],
+     [
+      -1.83,
+      4.14
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45662924.json b/data/spatial codes/ground truth/compact/45662924.json
new file mode 100644
index 0000000000000000000000000000000000000000..d90139f434e4bb3a20e8c78266ae46f5d54514ec
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45662924.json	
@@ -0,0 +1,544 @@
+{
+ "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": {
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.37,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.64,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.18,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      1.9,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.87,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.14,
+       0.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.79,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      2.31,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
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+       0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      3.3,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.13,
+       0.0
+      ],
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+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.02,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.34,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
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+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      3.5,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.11,
+       0.0
+      ],
+      [
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.3,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.19,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.41,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.3,
+      3.09,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.41,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.81,
+      3.01,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.41,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.95,
+      2.25,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.77,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -6.62,
+      -1.95
+     ],
+     [
+      -0.27,
+      -1.95
+     ],
+     [
+      -0.27,
+      4.39
+     ],
+     [
+      -6.62,
+      4.39
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45662943.json b/data/spatial codes/ground truth/compact/45662943.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b14c63596acdd8d3fb1e4c1053e53a21ada4e6
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45662943.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      4.74,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      2.31,
+      1.86,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.34,
+      5.96,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.42,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.49,
+      3.6,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.42,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.08,
+      1.69,
+      1.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.75,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.95,
+       0.09
+      ],
+      [
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+       -0.31,
+       0.0
+      ],
+      [
+       0.03,
+       -0.09,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.1,
+      4.34,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      1.61,
+      1.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      7.23,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      0.71,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.74,
+       -0.67,
+       0.0
+      ],
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+       0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.16,
+      -0.51
+     ],
+     [
+      6.57,
+      -0.51
+     ],
+     [
+      6.57,
+      5.91
+     ],
+     [
+      0.16,
+      5.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45662970.json b/data/spatial codes/ground truth/compact/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..b645016fc866adbaa5572fd6f85229c4f21528a8
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45662970.json	
@@ -0,0 +1,184 @@
+{
+ "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": {
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.9,
+      0.74,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.6,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -1.0,
+       0.0
+      ],
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+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.26,
+      0.68,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.65,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.38,
+      -0.27
+     ],
+     [
+      -0.16,
+      -0.27
+     ],
+     [
+      -0.16,
+      2.95
+     ],
+     [
+      -3.38,
+      2.95
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45662987.json b/data/spatial codes/ground truth/compact/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..88df550f4832b03c9ff3d8c97377ea1facc68764
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45662987.json	
@@ -0,0 +1,384 @@
+{
+ "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": [
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+      -1.76,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      2.11,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.06,
+       0.0
+      ],
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+       -0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.43,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      2.12,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -3.83,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.65,
+      1.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
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+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.7,
+      -3.63,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      1.26,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.02
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.92,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.59,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.48,
+       0.0
+      ],
+      [
+       -0.48,
+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -6.46,
+      -0.54,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.55,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -6.71,
+      -1.18,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.54,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.77,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.35,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.92,
+      -5.6
+     ],
+     [
+      0.1,
+      -5.6
+     ],
+     [
+      0.1,
+      0.42
+     ],
+     [
+      -5.92,
+      0.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45663105.json b/data/spatial codes/ground truth/compact/45663105.json
new file mode 100644
index 0000000000000000000000000000000000000000..003feda149d3bc37af793fb3dbc040f146e515a0
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45663105.json	
@@ -0,0 +1,218 @@
+{
+ "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": {
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      -2.19,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.31,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.76,
+      -2.28,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.23,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.89,
+      0.07,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.95,
+      1.54,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.47,
+      -2.07
+     ],
+     [
+      5.58,
+      -2.07
+     ],
+     [
+      5.58,
+      3.03
+     ],
+     [
+      0.47,
+      3.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45663114.json b/data/spatial codes/ground truth/compact/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a1a086df5fcaf3c56f2bc0ed3ebf31aa0be8579
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45663114.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.32,
+      0.15,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.67,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.77,
+      1.02,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.48,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.08,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.53,
+      -1.08
+     ],
+     [
+      3.7,
+      -1.08
+     ],
+     [
+      3.7,
+      2.09
+     ],
+     [
+      0.53,
+      2.09
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45663154.json b/data/spatial codes/ground truth/compact/45663154.json
new file mode 100644
index 0000000000000000000000000000000000000000..243568cfdae7c5fc2913d2dd788b35012a8c2c97
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45663154.json	
@@ -0,0 +1,286 @@
+{
+ "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": [
+      3.6,
+      -0.11,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      1.73,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.84,
+      1.56,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      2.45,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.85,
+      -1.64,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.99,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.81,
+       0.59,
+       0.0
+      ],
+      [
+       -0.59,
+       -0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.38,
+      -0.21,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      1.8,
+      1.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.4,
+      1.54,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.57,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.71,
+       -0.7,
+       0.02
+      ],
+      [
+       0.7,
+       -0.71,
+       0.0
+      ],
+      [
+       0.01,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.06,
+      -3.48
+     ],
+     [
+      5.85,
+      -3.48
+     ],
+     [
+      5.85,
+      2.31
+     ],
+     [
+      0.06,
+      2.31
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45663164.json b/data/spatial codes/ground truth/compact/45663164.json
new file mode 100644
index 0000000000000000000000000000000000000000..8be92f577a72511eb6c4cd1e3cfb91fe16ec6c57
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45663164.json	
@@ -0,0 +1,288 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.64,
+      -0.74,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.86,
+      1.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.33,
+      -2.62,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.64,
+      1.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.66,
+      -2.67,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.63,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.47,
+      -1.71,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.6,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.33,
+      -2.55,
+      2.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.58,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       -0.53,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.34,
+      -4.16
+     ],
+     [
+      6.08,
+      -4.16
+     ],
+     [
+      6.08,
+      0.58
+     ],
+     [
+      1.34,
+      0.58
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45b0dac5e3.json b/data/spatial codes/ground truth/compact/45b0dac5e3.json
new file mode 100644
index 0000000000000000000000000000000000000000..87cf379407d9b9917761c9cdd1ab13b55a3b930d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45b0dac5e3.json	
@@ -0,0 +1,288 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.69,
+      1.1,
+      2.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.09,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      1.44,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      1.52,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.45,
+      0.21,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.1,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.94,
+       0.34,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      1.88,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      2.06,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.05,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.7,
+      1.61,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.95,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.45,
+      -0.16
+     ],
+     [
+      2.87,
+      -0.16
+     ],
+     [
+      2.87,
+      2.26
+     ],
+     [
+      0.45,
+      2.26
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47115460.json b/data/spatial codes/ground truth/compact/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..f83403f862c5ae74104bbbdb6c8b54a2e314233d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47115460.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": {
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.33,
+      1.26,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.59,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.54,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.86,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
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+    "3D oriented bounding box": {
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+      -0.14,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.53,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
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+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+      -0.61,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.53,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.92,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.98,
+      -3.81
+     ],
+     [
+      -1.07,
+      -3.81
+     ],
+     [
+      -1.07,
+      1.1
+     ],
+     [
+      -5.98,
+      1.1
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47115469.json b/data/spatial codes/ground truth/compact/47115469.json
new file mode 100644
index 0000000000000000000000000000000000000000..374230f6dc51c42000f5c070b0a724a369123bb7
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47115469.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.3,
+      0.46,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      1.83,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.74,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.36,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.29,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.66,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.13,
+       0.0
+      ],
+      [
+       0.13,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.02,
+      -1.1
+     ],
+     [
+      2.89,
+      -1.1
+     ],
+     [
+      2.89,
+      2.82
+     ],
+     [
+      -1.02,
+      2.82
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47115525.json b/data/spatial codes/ground truth/compact/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c6b98b1d426fc09c0ab5fba1d87bc16c9906e20
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47115525.json	
@@ -0,0 +1,286 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.06,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.15,
+      0.81
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      3.01,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.11,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
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+      2.61,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.99,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
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+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.88,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.03,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.96,
+       -0.06
+      ],
+      [
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+       0.27,
+       0.01
+      ],
+      [
+       0.01,
+       -0.06,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.67,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.42,
+      1.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.01
+      ],
+      [
+       -0.01,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.21,
+      0.52
+     ],
+     [
+      0.55,
+      0.52
+     ],
+     [
+      0.55,
+      5.28
+     ],
+     [
+      -4.21,
+      5.28
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47115543.json b/data/spatial codes/ground truth/compact/47115543.json
new file mode 100644
index 0000000000000000000000000000000000000000..a370271439c8806a4564c7d3c2a9b98f1440d3a5
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47115543.json	
@@ -0,0 +1,444 @@
+{
+ "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": {
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.4,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.8,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
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+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
+   {
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+      4.2,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.91,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      2.05,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.04,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
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+       0.11,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.92,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.7,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.18,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      4.02,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.46,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.33
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+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
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+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.32,
+      1.11
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+     "3D oriented bounding box dimensions": [
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+      0.5,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       -0.05
+      ],
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+       -0.1,
+       0.0
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+       -0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
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+    "outer boundary coordinates": [
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+      0.48
+     ],
+     [
+      3.6,
+      0.48
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+      3.6,
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+     [
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+      5.22
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47204552.json b/data/spatial codes/ground truth/compact/47204552.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b4134b4930698dff8f79624733a3c931511fc5
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47204552.json	
@@ -0,0 +1,480 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
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+        "x",
+        "y",
+        "height above floor"
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+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+    "3D oriented bounding box": {
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+      2.77,
+      1.59
+     ],
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+      0.7
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+       1.0
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+       1.0
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+       0.0,
+       1.0
+      ]
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+   },
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+      1.4,
+      0.44
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+      0.5,
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+       0.97,
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+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
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+      0.67,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.88
+     ],
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+      1.04,
+      0.37
+     ],
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+      1.32,
+      0.74
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
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+      -3.0
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+      2.92
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+      2.92
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47204566.json b/data/spatial codes/ground truth/compact/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a96118210e8cf06882802f596c9f89da55d30c0
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47204566.json	
@@ -0,0 +1,254 @@
+{
+ "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": {
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.58,
+      1.21,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.73,
+      0.76
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+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
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+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
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+      1.08,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
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+      1.35,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.53,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.9,
+       0.1
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+       -0.42,
+       0.0
+      ],
+      [
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+       0.09,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.26,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -0.3
+     ],
+     [
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+      -0.3
+     ],
+     [
+      2.96,
+      2.77
+     ],
+     [
+      -0.11,
+      2.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47204578.json b/data/spatial codes/ground truth/compact/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..1448c1bb1ee31a1d215dba700ec262cccc38418b
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47204578.json	
@@ -0,0 +1,286 @@
+{
+ "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": [
+      5.45,
+      2.22,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.99,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
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+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      1.09,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.19,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
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+      2.3,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.88,
+       0.0
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+      [
+       0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.24,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.25,
+      0.74
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": null
+   }
+  ],
+  "stool": [
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+    "3D oriented bounding box": {
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+      -0.37,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.01
+      ],
+      [
+       0.01,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
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+    "outer boundary coordinates": [
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+      0.46,
+      -1.59
+     ],
+     [
+      5.16,
+      -1.59
+     ],
+     [
+      5.16,
+      3.11
+     ],
+     [
+      0.46,
+      3.11
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47204607.json b/data/spatial codes/ground truth/compact/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..efed4ebea0ec98ef85e89a2c8eba57078cfaa844
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47204607.json	
@@ -0,0 +1,348 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
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+      2.02,
+      0.4
+     ],
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+      1.45,
+      0.8
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+      2.43,
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+       1.0
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+      3.94,
+      0.23
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+      0.95,
+      0.46
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+       1.0
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+      2.69,
+      0.28
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+      0.72,
+      0.56
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.69,
+       0.0
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+       0.72,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
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+      4.88,
+      0.28
+     ],
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+      0.42,
+      0.57
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+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
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+      ],
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+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+    "3D oriented bounding box": {
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+      1.86,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.56
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
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+  "tv": [
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+    "3D oriented bounding box": {
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+      4.57,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.25,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.43,
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+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
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+      -0.01
+     ],
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+      -0.01
+     ],
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+      2.77,
+      5.53
+     ],
+     [
+      -2.76,
+      5.53
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331063.json b/data/spatial codes/ground truth/compact/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..e443d1265aef7b1934c280c720ac4d1f4189e163
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331063.json	
@@ -0,0 +1,418 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
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+      0.81,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.01,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.04,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
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+      2.18,
+      1.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.98,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.98,
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+       -0.18,
+       0.0
+      ],
+      [
+       0.01,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      2.26,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
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+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
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+      2.16,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.83,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.17,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.09,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.3,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.63,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      2.06,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.62,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.99,
+      2.27,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.62,
+      1.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.65,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.6,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.32,
+      -1.56
+     ],
+     [
+      1.29,
+      -1.56
+     ],
+     [
+      1.29,
+      2.05
+     ],
+     [
+      -2.32,
+      2.05
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331068.json b/data/spatial codes/ground truth/compact/47331068.json
new file mode 100644
index 0000000000000000000000000000000000000000..834111d5eab791a51e6c143a85966d5d72681fdd
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331068.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": {
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      0.63,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.74,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      0.64,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      1.42,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.34,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.85,
+      -2.99
+     ],
+     [
+      1.56,
+      -2.99
+     ],
+     [
+      1.56,
+      -0.57
+     ],
+     [
+      -0.85,
+      -0.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331262.json b/data/spatial codes/ground truth/compact/47331262.json
new file mode 100644
index 0000000000000000000000000000000000000000..486d98dc4a3a745f09c6f67d115ad40a19ab7e7f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331262.json	
@@ -0,0 +1,510 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.75,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.01,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.03,
+       0.0
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+      3.25,
+      0.51
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+      1.0
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    "first visible time": null
+   },
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+      3.32,
+      0.51
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+      0.9,
+      1.0
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+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
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+      2.15,
+      0.25
+     ],
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
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+      -0.23,
+      0.39
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+     "3D oriented bounding box dimensions": [
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+      1.39,
+      0.78
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.06,
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+      ],
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
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+    "3D oriented bounding box": {
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+      1.61,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    },
+    "first visible time": null
+   }
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+      0.47
+     ],
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+      0.5,
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+      ],
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+       0.0,
+       1.0
+      ]
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+   },
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+      0.47
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+     ],
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+      ],
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+      -0.93,
+      0.48
+     ],
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+      0.46,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      1.27,
+      -0.49,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.52,
+      0.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.09,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
+      0.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
+       0.0
+      ],
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+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.8,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.96,
+       0.0
+      ],
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+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -2.91,
+      -1.44
+     ],
+     [
+      2.64,
+      -1.44
+     ],
+     [
+      2.64,
+      4.11
+     ],
+     [
+      -2.91,
+      4.11
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331316.json b/data/spatial codes/ground truth/compact/47331316.json
new file mode 100644
index 0000000000000000000000000000000000000000..524dfb5c964bdf4fa5035991dd82eed252a0d031
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331316.json	
@@ -0,0 +1,254 @@
+{
+ "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": [
+      0.33,
+      1.62,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      2.04,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       -0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.26,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.73,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       -0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      1.14,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.63,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.96,
+      0.98,
+      1.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.8,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.4,
+       0.0
+      ],
+      [
+       -0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.31,
+      -0.89
+     ],
+     [
+      1.98,
+      -0.89
+     ],
+     [
+      1.98,
+      3.39
+     ],
+     [
+      -2.31,
+      3.39
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331319.json b/data/spatial codes/ground truth/compact/47331319.json
new file mode 100644
index 0000000000000000000000000000000000000000..c25cc13a42087318b354d3447eb1e33d28a1f73e
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331319.json	
@@ -0,0 +1,284 @@
+{
+ "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": {
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.45,
+      0.35,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.95,
+      1.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       -0.98,
+       0.0
+      ],
+      [
+       0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.06,
+      0.02,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.35,
+      1.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.15,
+      0.4,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      1.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.21,
+       0.0
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.29,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      1.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.21,
+       0.0
+      ],
+      [
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+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.59,
+      -1.54,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.94,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.09,
+      -2.38
+     ],
+     [
+      4.19,
+      -2.38
+     ],
+     [
+      4.19,
+      1.91
+     ],
+     [
+      -0.09,
+      1.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331331.json b/data/spatial codes/ground truth/compact/47331331.json
new file mode 100644
index 0000000000000000000000000000000000000000..b23dd0d4013fc8d27de110020c564456524aee42
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331331.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.41,
+      1.07,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      2.42,
+      1.6,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.81,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.65,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.35,
+       0.0
+      ],
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.94,
+      -3.81
+     ],
+     [
+      1.45,
+      -3.81
+     ],
+     [
+      1.45,
+      1.58
+     ],
+     [
+      -3.94,
+      1.58
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331336.json b/data/spatial codes/ground truth/compact/47331336.json
new file mode 100644
index 0000000000000000000000000000000000000000..f27dc3d90a0d336129e66b36c0429eaaef4e3382
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331336.json	
@@ -0,0 +1,152 @@
+{
+ "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": {
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      0.76,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.36,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.81,
+       -0.58,
+       0.0
+      ],
+      [
+       0.58,
+       -0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.71,
+      -0.06
+     ],
+     [
+      0.97,
+      -0.06
+     ],
+     [
+      0.97,
+      2.61
+     ],
+     [
+      -1.71,
+      2.61
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331644.json b/data/spatial codes/ground truth/compact/47331644.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc840d7442c2b218e79b6bb506cde3a703cda1
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331644.json	
@@ -0,0 +1,574 @@
+{
+ "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": [
+      -0.08,
+      3.72,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      1.96,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      5.52,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.36,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.65,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.96,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.53,
+      1.3,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.64,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      5.57,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.85,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      3.25,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.23,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.29,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.03,
+      1.23,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      5.37,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.76,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.65,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.23,
+      1.96,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.39,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.27,
+      2.38,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.41,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.93,
+      2.4,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.41,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.94,
+      1.94,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.42,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.34,
+      -0.91
+     ],
+     [
+      1.49,
+      -0.91
+     ],
+     [
+      1.49,
+      3.93
+     ],
+     [
+      -3.34,
+      3.93
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331654.json b/data/spatial codes/ground truth/compact/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e2ddfb5564150edaff1578e360afbaf9724539
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331654.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.46,
+      1.24,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.6,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.85,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.5,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.7,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.18,
+      2.97,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.42,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.96,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.6,
+      1.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.72,
+      0.94,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.25,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.57,
+      -0.86
+     ],
+     [
+      1.21,
+      -0.86
+     ],
+     [
+      1.21,
+      2.92
+     ],
+     [
+      -2.57,
+      2.92
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331668.json b/data/spatial codes/ground truth/compact/47331668.json
new file mode 100644
index 0000000000000000000000000000000000000000..615f1bd5e99e6867682f203391c1d7812d15c46e
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331668.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.93,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      2.44,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.79,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      2.07,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.91,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.51,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.77,
+       0.0
+      ],
+      [
+       0.77,
+       0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.74,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.91,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.54,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.42,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.11,
+       0.0
+      ],
+      [
+       -0.11,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.9,
+      -1.33
+     ],
+     [
+      0.76,
+      -1.33
+     ],
+     [
+      0.76,
+      2.34
+     ],
+     [
+      -2.9,
+      2.34
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331970.json b/data/spatial codes/ground truth/compact/47331970.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6ff43e8aed9ea355e54647a0d19ff6f5d941fc5
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331970.json	
@@ -0,0 +1,512 @@
+{
+ "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": {
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.2,
+      -0.76,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.59,
+      2.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.02
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.25,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.64,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0,
+       -0.02
+      ],
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.62,
+      2.21,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.39,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.0,
+       -0.02
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.9,
+      2.58,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.46,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.1,
+       -0.02
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.23,
+      2.58,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.44,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.1,
+       -0.02
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.18,
+      1.77,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.45,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.02
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.0,
+      1.78,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.43,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.02
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.47,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.08,
+       -0.02
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.05,
+      2.49,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.89,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.09,
+       -0.02
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      4.9,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      1.01,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       0.13,
+       -0.02
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      4.98,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      1.27,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.06,
+       0.02
+      ],
+      [
+       0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.17,
+      0.8,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      2.35,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.02
+      ],
+      [
+       0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.52,
+      -1.81
+     ],
+     [
+      2.39,
+      -1.81
+     ],
+     [
+      2.39,
+      5.11
+     ],
+     [
+      -4.52,
+      5.11
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331972.json b/data/spatial codes/ground truth/compact/47331972.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7600ee34ed605650cf23dd96ac65f739874f9ae
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331972.json	
@@ -0,0 +1,646 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "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": [
+      -0.06,
+      4.13,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      1.94,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.44,
+      6.61,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      1.13,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.29,
+       -0.96,
+       0.0
+      ],
+      [
+       0.96,
+       0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.2,
+      2.45,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      2.49,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.39,
+      6.47,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.99,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      4.28,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      1.38,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.87,
+      3.85,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      1.27,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.34,
+       -0.94,
+       0.0
+      ],
+      [
+       0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.43,
+      5.38,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      1.44,
+      1.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.58,
+      3.68,
+      1.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      1.41,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.79,
+      5.25,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.51,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.06,
+      4.24,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.46,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.34,
+       -0.94,
+       0.0
+      ],
+      [
+       0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.51,
+      4.17,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.46,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.34,
+       -0.94,
+       0.0
+      ],
+      [
+       0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.25,
+      3.48,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.46,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.5,
+      3.49,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.46,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.39,
+      2.81,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.57,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.29,
+      0.83,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.73,
+      2.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.42,
+      -1.2,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      1.76,
+      1.52,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.2,
+      0.16
+     ],
+     [
+      3.99,
+      0.16
+     ],
+     [
+      3.99,
+      7.35
+     ],
+     [
+      -3.2,
+      7.35
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47331990.json b/data/spatial codes/ground truth/compact/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..f573295e5600d35e39e48a188718fce8737d83ae
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47331990.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.47,
+      0.91,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      2.13,
+      1.7,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       -0.09,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      1.53,
+      1.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      1.12,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       -0.05
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.05,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.68,
+      2.3,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.68,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.0,
+      -2.31,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      3.04,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.2,
+      -1.37
+     ],
+     [
+      3.52,
+      -1.37
+     ],
+     [
+      3.52,
+      3.36
+     ],
+     [
+      -1.2,
+      3.36
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47332005.json b/data/spatial codes/ground truth/compact/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcdd69decda146378ae2a17ec49a4fe40cbeb4a0
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47332005.json	
@@ -0,0 +1,186 @@
+{
+ "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": {
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      1.67,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.39,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      -2.76,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.03,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.98,
+       0.0
+      ],
+      [
+       0.98,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.33,
+      -1.27
+     ],
+     [
+      1.62,
+      -1.27
+     ],
+     [
+      1.62,
+      2.68
+     ],
+     [
+      -2.33,
+      2.68
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47332899.json b/data/spatial codes/ground truth/compact/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..29ada24e48fa1c2d2adc0148fe16af79d11c9ad7
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47332899.json	
@@ -0,0 +1,254 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.21,
+      1.66,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      2.07,
+      0.86,
+      1.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.42,
+      -0.3,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      1.23,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.67,
+      -0.47,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.71,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.05,
+       1.0,
+       0.03
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.79,
+      0.32,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.28,
+      -1.22
+     ],
+     [
+      -0.3,
+      -1.22
+     ],
+     [
+      -0.3,
+      2.75
+     ],
+     [
+      -4.28,
+      2.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47332908.json b/data/spatial codes/ground truth/compact/47332908.json
new file mode 100644
index 0000000000000000000000000000000000000000..33d4ca0f976f6ca1f4eea32f6db5f583d85f24b8
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47332908.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.39,
+      1.93,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.4,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.69,
+       -0.73,
+       0.0
+      ],
+      [
+       0.73,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.45,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.41,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.74,
+       -0.68,
+       0.0
+      ],
+      [
+       0.68,
+       -0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.95,
+      -2.2
+     ],
+     [
+      2.28,
+      -2.2
+     ],
+     [
+      2.28,
+      1.03
+     ],
+     [
+      -0.95,
+      1.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47332918.json b/data/spatial codes/ground truth/compact/47332918.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0a47d991b761f48d1a21421c7e0f5d7353df62b
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47332918.json	
@@ -0,0 +1,350 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.18,
+      1.46,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      2.09,
+      1.92,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.24,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.02,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.65,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.26,
+       0.0
+      ],
+      [
+       -0.26,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.79,
+      -0.7,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.13,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.51,
+      0.08,
+      1.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      1.44,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.28,
+       -0.12
+      ],
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.12,
+       0.03,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.47,
+      -1.08,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.39,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.03,
+      -0.54,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.37,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       -0.97,
+       0.0
+      ],
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.57,
+      -0.43,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.38,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       -0.97,
+       0.0
+      ],
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.85,
+      -0.21
+     ],
+     [
+      -0.85,
+      -0.21
+     ],
+     [
+      -0.85,
+      3.79
+     ],
+     [
+      -4.85,
+      3.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47333436.json b/data/spatial codes/ground truth/compact/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c346e71700ded5dfaa48f48b840832b9ff1c420
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47333436.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.33,
+      1.15,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      2.23,
+      1.06,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.91,
+      -0.81,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.03,
+      0.95,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.36,
+      -0.93
+     ],
+     [
+      4.08,
+      -0.93
+     ],
+     [
+      4.08,
+      2.79
+     ],
+     [
+      0.36,
+      2.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47333457.json b/data/spatial codes/ground truth/compact/47333457.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b921d409a8839e161820ce5f70361100bd365f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47333457.json	
@@ -0,0 +1,616 @@
+{
+ "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": {
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.87,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.7,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07,
+       -0.05
+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.05,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
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+      2.37,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.09,
+       0.0
+      ],
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
+   {
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+      2.72,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.92,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
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+      [
+       0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.74,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.3,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.37,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.88,
+       0.0
+      ],
+      [
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+       -0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.9,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.62,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.85,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.59,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
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+       0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.09,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.13,
+       0.0
+      ],
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+       -0.13,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.35,
+      2.04,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      1.91,
+      1.38,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.73,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.58,
+      1.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.13,
+       0.0
+      ],
+      [
+       -0.13,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.34,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.57,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.03,
+      -2.73,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.43,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.59,
+      -2.52,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.77,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      -2.03,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.36,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.79,
+      -1.26
+     ],
+     [
+      3.77,
+      -1.26
+     ],
+     [
+      3.77,
+      3.29
+     ],
+     [
+      -0.79,
+      3.29
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47333899.json b/data/spatial codes/ground truth/compact/47333899.json
new file mode 100644
index 0000000000000000000000000000000000000000..53dbf55e09237b73db66f77a509ec7bc66880e61
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47333899.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.05,
+      1.36,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.62,
+      1.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.48,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.39,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.17,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.43,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.18,
+       0.0
+      ],
+      [
+       -0.18,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.39,
+      1.35,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.49,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.13,
+      -0.14,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.91,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.0,
+      0.43,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.67,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.45,
+      -1.17
+     ],
+     [
+      0.68,
+      -1.17
+     ],
+     [
+      0.68,
+      1.97
+     ],
+     [
+      -2.45,
+      1.97
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47333918.json b/data/spatial codes/ground truth/compact/47333918.json
new file mode 100644
index 0000000000000000000000000000000000000000..a22ac34d042f0404f36dc21f75f77c5f7522e13a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47333918.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": {
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.59,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.47
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       -0.01,
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.16,
+      1.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
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+       0.18,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.17,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.37,
+      0.86
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    "first visible time": null
+   },
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+      0.38,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.02,
+      -2.0
+     ],
+     [
+      2.74,
+      -2.0
+     ],
+     [
+      2.74,
+      1.77
+     ],
+     [
+      -1.02,
+      1.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47333924.json b/data/spatial codes/ground truth/compact/47333924.json
new file mode 100644
index 0000000000000000000000000000000000000000..711f213636df0a44684cd3aba993e9dd046b36a8
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47333924.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.15,
+      1.4,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.38,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
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+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.31,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.27,
+      -0.68
+     ],
+     [
+      2.05,
+      -0.68
+     ],
+     [
+      2.05,
+      1.64
+     ],
+     [
+      -0.27,
+      1.64
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47333932.json b/data/spatial codes/ground truth/compact/47333932.json
new file mode 100644
index 0000000000000000000000000000000000000000..298b6f21acb431a473734101a91d53934c8eb73a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47333932.json	
@@ -0,0 +1,318 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.0,
+      0.53
+     ],
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+      0.44,
+      1.04
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0,
+       1.0
+      ]
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+   },
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+      3.6,
+      0.56
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+      0.67,
+      1.1
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.14,
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+       0.99,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
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+   },
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+      2.52,
+      0.53
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+      0.41,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
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+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bed": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      2.17,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      1.9,
+      1.17,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
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+      3.47,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.13,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
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+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.61,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.29,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.15,
+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.75,
+      0.27
+     ],
+     [
+      3.45,
+      0.27
+     ],
+     [
+      3.45,
+      4.48
+     ],
+     [
+      -0.75,
+      4.48
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47333940.json b/data/spatial codes/ground truth/compact/47333940.json
new file mode 100644
index 0000000000000000000000000000000000000000..d64815e395264f88df31157c0290816d07f830de
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47333940.json	
@@ -0,0 +1,446 @@
+{
+ "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": [
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+      1.25,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.87,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.12,
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+       0.99,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.61,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.88,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.12,
+       0.0
+      ],
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+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      3.43,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.89,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.13,
+       0.0
+      ],
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+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.37,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.69,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
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+       0.12,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+      3.55,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
+      [
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+       0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+       1.0
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+      0.48
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+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
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+    "first visible time": null
+   }
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+      -0.1
+     ],
+     [
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+      4.83
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47334096.json b/data/spatial codes/ground truth/compact/47334096.json
new file mode 100644
index 0000000000000000000000000000000000000000..15b7d27dde86357e3327c4b0ddaf9cb8d52a54ea
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47334096.json	
@@ -0,0 +1,482 @@
+{
+ "spatial code schema": {
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+   "<object class>": [
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+      "3D oriented bounding box center coordinates": {
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+        "dimension 2",
+        "dimension 3"
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+         "height"
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+        [
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+         "height"
+        ],
+        [
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+         "height"
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+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
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+  },
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+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+    "3D oriented bounding box": {
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+      5.15,
+      0.47
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
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+      3.51,
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+   }
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
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+ },
+ "room": {
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47334103.json b/data/spatial codes/ground truth/compact/47334103.json
new file mode 100644
index 0000000000000000000000000000000000000000..58e1c53f61021c75dbe2110a3015b2e4e9b941f8
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47334103.json	
@@ -0,0 +1,450 @@
+{
+ "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": {
+  "stool": [
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+    "3D oriented bounding box": {
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+      0.2,
+      0.19
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+    "first visible time": null
+   }
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+       1.0
+      ]
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+   }
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47334107.json b/data/spatial codes/ground truth/compact/47334107.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ef7b827c26c23211014302bd44698ea3f439a0f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47334107.json	
@@ -0,0 +1,254 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
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+        "dimension 2",
+        "dimension 3"
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+         "height"
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+        [
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+        [
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+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
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+        "y"
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+       [
+        "x",
+        "y"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+         "x",
+         "y"
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+        [
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+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+      0.5
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47334117.json b/data/spatial codes/ground truth/compact/47334117.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89bf36ba9ac3c3e48cf76a02d9a28d6aaa3828f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47334117.json	
@@ -0,0 +1,254 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "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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+      "3D oriented bounding box dimensions": {
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+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+        [
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+        [
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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"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+       [
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+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+ },
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47334238.json b/data/spatial codes/ground truth/compact/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..137d956f8350ec3dfe5f961cde8ce055595e7dfc
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47334238.json	
@@ -0,0 +1,478 @@
+{
+ "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"
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+      "3D oriented bounding box dimensions": {
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+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+      "3D oriented bounding box orientation unit vectors": {
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+         "height"
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+        [
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+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
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+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
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+  },
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+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+     "interior hole boundary coordinates": {
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+         "y"
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+        [
+         "x",
+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+    }
+   ]
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+ },
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+   },
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+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.27,
+      -0.89
+     ],
+     [
+      1.94,
+      -0.89
+     ],
+     [
+      1.94,
+      4.32
+     ],
+     [
+      -3.27,
+      4.32
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47334239.json b/data/spatial codes/ground truth/compact/47334239.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5bffbe9e39947e77f179ab406bcb79e75e7615b
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47334239.json	
@@ -0,0 +1,254 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.56,
+      0.79,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      1.65,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.93,
+      -0.82,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.39,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.11,
+      -0.93,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.63,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.58,
+      -0.71,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.4,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.14,
+      -1.91
+     ],
+     [
+      0.33,
+      -1.91
+     ],
+     [
+      0.33,
+      1.57
+     ],
+     [
+      -3.14,
+      1.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47334254.json b/data/spatial codes/ground truth/compact/47334254.json
new file mode 100644
index 0000000000000000000000000000000000000000..f47d184f7375159ace1b10477152d46fad7b8836
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47334254.json	
@@ -0,0 +1,316 @@
+{
+ "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": {
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.29,
+      2.17,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.58,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.41,
+      1.32,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.74,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.12,
+      0.17,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.93,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.82,
+      0.25,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.39,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       -0.52,
+       0.0
+      ],
+      [
+       0.52,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.15,
+      0.45,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.39,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.35,
+       -0.94,
+       0.0
+      ],
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.45,
+      0.02,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.39,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.25,
+      -1.05
+     ],
+     [
+      1.37,
+      -1.05
+     ],
+     [
+      1.37,
+      2.57
+     ],
+     [
+      -2.25,
+      2.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47334362.json b/data/spatial codes/ground truth/compact/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe5bbcc63ea4da1dff1320289d60777c0c44f590
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47334362.json	
@@ -0,0 +1,284 @@
+{
+ "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": [
+      1.22,
+      2.29,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      2.3,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.77,
+      2.17,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      2.06,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.59,
+      0.51,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      2.05,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.5,
+      3.28,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      1.11,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.03,
+      -0.77,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.82,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.72,
+      -1.26
+     ],
+     [
+      3.28,
+      -1.26
+     ],
+     [
+      3.28,
+      3.74
+     ],
+     [
+      -1.72,
+      3.74
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47334372.json b/data/spatial codes/ground truth/compact/47334372.json
new file mode 100644
index 0000000000000000000000000000000000000000..34462a01346ba6b071002ab15f1f7a012cffcf4c
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47334372.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.1,
+      1.48,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.34,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.15,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.43,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.52,
+      -0.97
+     ],
+     [
+      1.28,
+      -0.97
+     ],
+     [
+      1.28,
+      1.83
+     ],
+     [
+      -1.52,
+      1.83
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47334380.json b/data/spatial codes/ground truth/compact/47334380.json
new file mode 100644
index 0000000000000000000000000000000000000000..bce10c74ed675085cdee91f76352c06b58ae6c67
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47334380.json	
@@ -0,0 +1,286 @@
+{
+ "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": {
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      1.04,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.51,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.23,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.55,
+      1.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      2.6,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      1.13,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      2.5,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.44,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       0.67,
+       0.0
+      ],
+      [
+       -0.67,
+       0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.47,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.45,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.32,
+       -0.95,
+       0.0
+      ],
+      [
+       0.95,
+       -0.32,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.89,
+      -1.25
+     ],
+     [
+      0.39,
+      -1.25
+     ],
+     [
+      0.39,
+      2.03
+     ],
+     [
+      -2.89,
+      2.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47429904.json b/data/spatial codes/ground truth/compact/47429904.json
new file mode 100644
index 0000000000000000000000000000000000000000..876c93d64d9dade845bfd72ae2277afd24b8cd75
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47429904.json	
@@ -0,0 +1,576 @@
+{
+ "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": {
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.82,
+      2.95,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      1.29,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.64,
+       -0.01
+      ],
+      [
+       -0.64,
+       -0.77,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      5.51,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.85,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.02
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.78,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.59,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.02
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.37,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.49,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.02
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.06,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.64,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.53,
+       0.85,
+       0.01
+      ],
+      [
+       -0.85,
+       0.53,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.23,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.02
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.62,
+      4.53,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.46,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.02
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.39,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.53,
+       0.85,
+       0.01
+      ],
+      [
+       -0.85,
+       0.53,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.7,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.53,
+       0.85,
+       0.01
+      ],
+      [
+       -0.85,
+       0.53,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      2.38,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.42,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.52,
+       -0.85,
+       -0.01
+      ],
+      [
+       0.85,
+       -0.52,
+       0.01
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.83,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.85,
+       -0.01
+      ],
+      [
+       0.85,
+       -0.52,
+       0.01
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.0,
+      2.49,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.42,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.51,
+       0.01
+      ],
+      [
+       0.51,
+       0.86,
+       0.01
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.27,
+      4.63,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.48,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.1,
+       -0.02
+      ],
+      [
+       0.1,
+       -0.99,
+       0.0
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.32,
+      5.1,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.48,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.1,
+       -0.02
+      ],
+      [
+       0.1,
+       -0.99,
+       0.0
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.41,
+      0.4
+     ],
+     [
+      1.66,
+      0.4
+     ],
+     [
+      1.66,
+      6.47
+     ],
+     [
+      -4.41,
+      6.47
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47429912.json b/data/spatial codes/ground truth/compact/47429912.json
new file mode 100644
index 0000000000000000000000000000000000000000..395350ad1c5d583cbde5cb320ec537da7cacd095
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47429912.json	
@@ -0,0 +1,186 @@
+{
+ "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": {
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      1.88,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.36,
+      0.44
+     ],
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   }
+  ],
+  "bathtub": [
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+      2.88,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.93,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -2.38,
+      1.38
+     ],
+     [
+      0.51,
+      1.38
+     ],
+     [
+      0.51,
+      4.27
+     ],
+     [
+      -2.38,
+      4.27
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47429922.json b/data/spatial codes/ground truth/compact/47429922.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8aa3e33b843bab4eec1be9947d4f509faf248e4
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47429922.json	
@@ -0,0 +1,352 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
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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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+    "3D oriented bounding box": {
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+      -2.84,
+      0.45
+     ],
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+      2.13,
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+       0.0
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+       0.0,
+       1.0
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+    "first visible time": null
+   }
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+      -2.94,
+      0.41
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+      0.78
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+       1.0
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+      -0.7,
+      0.43
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+      0.59,
+      0.85
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+       -0.73,
+       0.0
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+       1.0
+      ]
+     ]
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+    "first visible time": null
+   }
+  ],
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+      -2.82,
+      0.53
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+      0.42,
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+    "first visible time": null
+   }
+  ],
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+      -2.02,
+      0.22
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+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.06,
+       0.0
+      ],
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+       0.0,
+       1.0
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+    "first visible time": null
+   },
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+      -0.8,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.4
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.7,
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.15,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.8,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.74,
+       -0.08
+      ],
+      [
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+       -0.67,
+       0.0
+      ],
+      [
+       -0.05,
+       -0.06,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
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+      -3.6
+     ],
+     [
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+      -3.6
+     ],
+     [
+      4.17,
+      0.31
+     ],
+     [
+      0.27,
+      0.31
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47429977.json b/data/spatial codes/ground truth/compact/47429977.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ec173a7cfd3f90591d9adeaa6eb1d43a95804a3
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47429977.json	
@@ -0,0 +1,516 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "sofa": [
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+    "3D oriented bounding box": {
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+      2.62,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.07,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+   },
+   {
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+      1.92,
+      0.35
+     ],
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+      0.36,
+      0.66
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
+       0.0
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      1.71,
+      0.27
+     ],
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+      0.5,
+      0.5
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+       1.0,
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+       0.0,
+       0.0
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
+   {
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+      0.85,
+      0.41
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+     "3D oriented bounding box dimensions": [
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+      0.75,
+      0.75
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.0
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   }
+  ],
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+      1.2,
+      0.25
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+      0.37,
+      0.46
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+    "3D oriented bounding box": {
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+      2.86,
+      0.24
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+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      0.64,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      0.8,
+      0.41
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+      0.43,
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": null
+   },
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+      1.28,
+      0.41
+     ],
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+      0.52,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
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+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      0.8,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.09,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.55,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.58,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.03,
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      2.86,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.68,
+      1.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.98,
+      -0.71
+     ],
+     [
+      3.41,
+      -0.71
+     ],
+     [
+      3.41,
+      3.68
+     ],
+     [
+      -0.98,
+      3.68
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47429998.json b/data/spatial codes/ground truth/compact/47429998.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b3d800d572cc4a202e4a5c51310e43919e22178
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47429998.json	
@@ -0,0 +1,152 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.22,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.48,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.66,
+      -1.6
+     ],
+     [
+      3.7,
+      -1.6
+     ],
+     [
+      3.7,
+      1.44
+     ],
+     [
+      0.66,
+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47430007.json b/data/spatial codes/ground truth/compact/47430007.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b8e293969af4dd980438d2e04b24b093c5d7472
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47430007.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.91,
+      0.15,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      1.68,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
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+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.55,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.37,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      -0.82,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.62,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.21,
+      -1.23
+     ],
+     [
+      2.03,
+      -1.23
+     ],
+     [
+      2.03,
+      2.01
+     ],
+     [
+      -1.21,
+      2.01
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47430034.json b/data/spatial codes/ground truth/compact/47430034.json
new file mode 100644
index 0000000000000000000000000000000000000000..631051aa32b538da69177352ea33d2eedadeb053
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47430034.json	
@@ -0,0 +1,482 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.01,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.97,
+      1.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.05,
+       0.0
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
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+      -0.25,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.74,
+      0.74
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.05,
+       0.0
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+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+      1.63,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.83,
+      0.77
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+       -1.0,
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+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+      -1.02,
+      0.45
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+      1.61,
+      0.88
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.05,
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      -0.29,
+      0.24
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+      0.41,
+      0.46
+     ],
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+      [
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+       1.0,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      1.77,
+      1.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.8,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.96,
+       0.0
+      ],
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+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
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+     "3D oriented bounding box center coordinates": [
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+      1.56,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+      1.52,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
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+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.72,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      -0.49,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.61,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.49,
+      -1.22,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      2.3,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.22,
+      -3.25
+     ],
+     [
+      3.83,
+      -3.25
+     ],
+     [
+      3.83,
+      1.81
+     ],
+     [
+      -1.22,
+      1.81
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47430038.json b/data/spatial codes/ground truth/compact/47430038.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ebb48845d5d7ca915ad1311d0f2c555fdb85402
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47430038.json	
@@ -0,0 +1,350 @@
+{
+ "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": {
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.51,
+      2.66,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.55,
+      1.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.37,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.58,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.41,
+       0.0
+      ],
+      [
+       -0.41,
+       -0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      2.78,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.7,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.56,
+       -0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.8,
+      3.38,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.41,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.95,
+       0.0
+      ],
+      [
+       0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.81,
+      2.55,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.38,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
+      ],
+      [
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+       0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.31,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      3.07,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.54,
+       0.0
+      ],
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+       -0.84,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.05,
+      -0.62
+     ],
+     [
+      1.89,
+      -0.62
+     ],
+     [
+      1.89,
+      3.31
+     ],
+     [
+      -2.05,
+      3.31
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47430048.json b/data/spatial codes/ground truth/compact/47430048.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c2da7dcaaeafe66b823ba0eb9a256316ad518d6
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47430048.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
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+      3.13,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.35,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.98,
+       0.0
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+       -0.22,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
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+    "3D oriented bounding box": {
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+      2.29,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.18,
+       0.0
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+       0.98,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": null
+   }
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+  "toilet": [
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+      1.02,
+      0.39
+     ],
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+      0.37,
+      0.74
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.58,
+       0.0
+      ],
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+       0.81,
+       0.0
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.22,
+      0.41
+     ],
+     [
+      1.74,
+      0.41
+     ],
+     [
+      1.74,
+      3.37
+     ],
+     [
+      -1.22,
+      3.37
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47430422.json b/data/spatial codes/ground truth/compact/47430422.json
new file mode 100644
index 0000000000000000000000000000000000000000..04aa1b0844281469cac0ac1eefa90aad36f31610
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47430422.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": {
+  "toilet": [
+   {
+    "3D oriented bounding box": {
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+      0.15,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.9,
+       0.0
+      ],
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+       -0.43,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
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+    "3D oriented bounding box": {
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+      -0.5,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.6,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.9,
+       0.0
+      ],
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+       -0.43,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bathtub": [
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+    "3D oriented bounding box": {
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+      1.17,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.49,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.42,
+       0.0
+      ],
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+       0.42,
+       -0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.17
+     ],
+     [
+      3.73,
+      -1.17
+     ],
+     [
+      3.73,
+      2.33
+     ],
+     [
+      0.22,
+      2.33
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47430468.json b/data/spatial codes/ground truth/compact/47430468.json
new file mode 100644
index 0000000000000000000000000000000000000000..c310fb15c191c757bb4826a1b11cde4c9d9f579f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47430468.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": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      0.87,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.73,
+      0.69
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+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
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+       1.0
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+   },
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+      0.35
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+      1.02,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0,
+       1.0
+      ]
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+   },
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+      1.23,
+      0.35
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+      0.98,
+      0.69
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      0.03,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.28,
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+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": null
+   }
+  ],
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+      -0.95,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.0,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.04,
+       0.0
+      ],
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+       0.22,
+       0.97
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.86,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.11,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+   {
+    "3D oriented bounding box": {
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+      2.95,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.46,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.92,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+       0.13,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      3.53,
+      0.51
+     ],
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+      0.48,
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
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+      0.5
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+     "3D oriented bounding box dimensions": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.78,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.59,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.28,
+      1.03
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.01,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.21,
+      -0.74
+     ],
+     [
+      3.96,
+      -0.74
+     ],
+     [
+      3.96,
+      5.42
+     ],
+     [
+      -2.21,
+      5.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47430475.json b/data/spatial codes/ground truth/compact/47430475.json
new file mode 100644
index 0000000000000000000000000000000000000000..eac29a94dd7b8ad391b7260ecb542fe72d085799
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47430475.json	
@@ -0,0 +1,152 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
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+      0.87,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.85,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.64,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
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+   {
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+      -1.36
+     ],
+     [
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+      -1.36
+     ],
+     [
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+      2.57
+     ],
+     [
+      -2.19,
+      2.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/578511c8a9.json b/data/spatial codes/ground truth/compact/578511c8a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..5690e6c91c3a63d14211397222f259197adbe62a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/578511c8a9.json	
@@ -0,0 +1,3570 @@
+{
+ "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": {
+  "table": [
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+    "3D oriented bounding box": {
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+      6.34,
+      0.71
+     ],
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+       -0.26,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.61,
+      3.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       0.25,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.04,
+      3.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.12,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       -0.22,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.77,
+      3.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       0.24,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      5.5,
+      3.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.59
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
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+       0.0,
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+      ],
+      [
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+       0.24,
+       0.0
+      ]
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+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      7.24,
+      3.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
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+       0.0,
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+      ],
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+       0.24,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      8.97,
+      3.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.24,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      9.52,
+      3.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.61
+     ],
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+       -0.97,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
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+       -0.24,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      7.76,
+      3.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       0.24,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      9.04,
+      5.99,
+      3.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.12,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.24,
+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.22,
+      3.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.12,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       0.22,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.46,
+      3.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.12,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.26,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.97,
+       -0.26,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      11.41,
+      2.89,
+      3.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.12,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      11.22,
+      4.68,
+      3.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.25,
+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      11.02,
+      6.48,
+      3.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.12,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.25,
+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      10.83,
+      8.28,
+      3.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.12,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.97,
+       -0.23,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      10.64,
+      10.07,
+      3.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.12,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.97,
+       -0.23,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "table lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.14,
+      1.07,
+      1.76
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.36,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       0.23,
+       0.52
+      ],
+      [
+       0.39,
+       0.45,
+       -0.8
+      ],
+      [
+       -0.43,
+       0.86,
+       0.28
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.9,
+      0.72
+     ],
+     [
+      11.96,
+      0.72
+     ],
+     [
+      11.96,
+      10.78
+     ],
+     [
+      1.9,
+      10.78
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/5942004064.json b/data/spatial codes/ground truth/compact/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..e036429afc17eef930435bc7caf51448ab5c6e29
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/5942004064.json	
@@ -0,0 +1,976 @@
+{
+ "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": {
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      3.37,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      2.02,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.09,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.71,
+      3.54,
+      1.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      2.01,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.11,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.76,
+      2.3,
+      1.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      2.0,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       0.2,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.62,
+      1.05,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      2.05,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.37,
+      3.47,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      2.16,
+      0.86,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      2.36,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.65,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.02,
+       0.66
+      ],
+      [
+       -0.64,
+       -0.27,
+       -0.72
+      ],
+      [
+       0.16,
+       -0.96,
+       0.21
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.18,
+      3.43,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.28,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.97,
+       -0.24,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.52,
+      3.62,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.33,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.7,
+       -0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.71,
+       0.7,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.1,
+      0.51,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.31,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.03
+      ],
+      [
+       -0.22,
+       -0.95,
+       0.22
+      ],
+      [
+       -0.02,
+       -0.23,
+       -0.97
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.39,
+      0.68,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.36,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.44,
+       0.06
+      ],
+      [
+       -0.41,
+       -0.79,
+       0.46
+      ],
+      [
+       -0.15,
+       -0.44,
+       -0.89
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.93,
+      2.5,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.78,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.12,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      1.8,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.44,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.65,
+      2.8,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.56,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.8,
+      1.73,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.25,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.85,
+      1.43,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
+      1.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.09,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.92,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.69,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.12,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
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+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.08,
+      3.67,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.64,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.18,
+       -0.05
+      ],
+      [
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+       -0.21,
+       0.98
+      ],
+      [
+       -0.19,
+       -0.96,
+       -0.2
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.14,
+      0.82,
+      1.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.6,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.17,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.75,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.1,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.15,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.74,
+      2.27,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.27,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.82,
+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.58,
+       0.82,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.54,
+      2.86,
+      1.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.99,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.49,
+       -0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.87,
+       -0.49,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.56,
+      2.48,
+      1.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.66,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.23,
+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.71,
+      0.49,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      1.53,
+      0.8,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.1,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.48,
+      2.52,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.76,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.06,
+      2.1,
+      2.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.25,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.44,
+       0.9,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.9,
+      1.58,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.89,
+      0.44,
+      1.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.1,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.73,
+      -0.27
+     ],
+     [
+      6.88,
+      -0.27
+     ],
+     [
+      6.88,
+      4.87
+     ],
+     [
+      1.73,
+      4.87
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/5eb31827b7.json b/data/spatial codes/ground truth/compact/5eb31827b7.json
new file mode 100644
index 0000000000000000000000000000000000000000..54d509f263a6df71ee2d058ef0098bc7b50c831d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/5eb31827b7.json	
@@ -0,0 +1,910 @@
+{
+ "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": {
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.03,
+      0.26,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.8,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.81,
+       -0.11,
+       0.58
+      ],
+      [
+       -0.59,
+       0.13,
+       -0.8
+      ],
+      [
+       0.01,
+       -0.99,
+       -0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.92,
+      0.09,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.34,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.03,
+       -0.15
+      ],
+      [
+       0.15,
+       -0.17,
+       0.97
+      ],
+      [
+       0.0,
+       -0.98,
+       -0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.77,
+      0.15,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      1.2,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.57,
+      1.72,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.62,
+      0.82,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.5,
+      1.71,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.83,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.02,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.76,
+      2.56,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.73,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.22,
+       0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      1.87,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.56,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.84,
+       0.54,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      1.73,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.4,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.17,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.36,
+      1.94,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.33,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       -0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.95,
+       0.3,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.72,
+      1.51,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.49,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.38,
+       -0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.92,
+       0.38,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.02,
+      0.2,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.53,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.04,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.31,
+      1.42,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.55,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.1
+      ],
+      [
+       -0.13,
+       0.99,
+       -0.08
+      ],
+      [
+       -0.11,
+       0.07,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      2.03,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.04,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.38,
+      1.47,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.06,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.79,
+       -0.42,
+       -0.44
+      ],
+      [
+       -0.5,
+       0.86,
+       0.08
+      ],
+      [
+       0.34,
+       0.28,
+       -0.89
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer tower": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.26,
+      1.1,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.36,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.33,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       -0.56,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.42,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       -0.43,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.25,
+      2.42,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.31,
+       -0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.12,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.13,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "laptop": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.13,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.75,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       0.75,
+       -0.66,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.29,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.87,
+       -0.49,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.58,
+      1.59,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.05,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       -0.26,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.38,
+      1.47,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      1.67,
+      0.52,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.04,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.04,
+      0.7,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.07,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.97,
+       -0.15
+      ],
+      [
+       0.98,
+       -0.18,
+       0.03
+      ],
+      [
+       0.01,
+       -0.15,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.99,
+      -0.55
+     ],
+     [
+      4.76,
+      -0.55
+     ],
+     [
+      4.76,
+      3.22
+     ],
+     [
+      0.99,
+      3.22
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/5ee7c22ba0.json b/data/spatial codes/ground truth/compact/5ee7c22ba0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1716c8ac8b2b4be41be03963d131481df7e74885
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/5ee7c22ba0.json	
@@ -0,0 +1,288 @@
+{
+ "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": {
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      0.43,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.27,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       0.0,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.13,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.92,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      0.59,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.9,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.11,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.98,
+      2.42,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      2.15,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.06,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      0.99,
+      2.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.59,
+      0.16,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.31,
+      0.05
+     ],
+     [
+      2.79,
+      0.05
+     ],
+     [
+      2.79,
+      2.53
+     ],
+     [
+      0.31,
+      2.53
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/5f99900f09.json b/data/spatial codes/ground truth/compact/5f99900f09.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a0ea6fbbb094517ddac449ebff5ebce3baae777
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/5f99900f09.json	
@@ -0,0 +1,1448 @@
+{
+ "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": {
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.39,
+      4.99,
+      1.36
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      2.68,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      5.58,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.71,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.86,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.73,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      10.08,
+      3.97,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.28,
+      2.48,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.9,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.39,
+       -0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.92,
+       -0.39,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      9.43,
+      4.17,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.46,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       -0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.89,
+       -0.46,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      9.62,
+      2.47,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.46,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.45,
+       0.89,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.32,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.91,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.08,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.84,
+       -0.02
+      ],
+      [
+       0.83,
+       -0.55,
+       0.06
+      ],
+      [
+       -0.06,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      10.11,
+      2.18,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.06,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.4,
+       -0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.92,
+       0.4,
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+      1.9,
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+   }
+  ],
+  "refrigerator": [
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+      5.0,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
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+     ]
+    },
+    "first visible time": 8.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
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+     [
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+      -0.8
+     ],
+     [
+      9.22,
+      -0.8
+     ],
+     [
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+      6.57
+     ],
+     [
+      1.84,
+      6.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/6115eddb86.json b/data/spatial codes/ground truth/compact/6115eddb86.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5aa6cbb324e25d2e74d2f5a607fd1674be26d8
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/6115eddb86.json	
@@ -0,0 +1,684 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.3,
+      1.13,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.8,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.68,
+       -0.73,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.75,
+      2.91,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.68,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.08,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.91,
+      0.38,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      2.13,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.01,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.28,
+      0.87,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      2.16,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.65,
+      0.4,
+      1.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.56,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.03,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      0.38,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.3,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.92,
+       0.17,
+       0.36
+      ],
+      [
+       -0.22,
+       0.53,
+       -0.82
+      ],
+      [
+       -0.33,
+       -0.83,
+       -0.45
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.86,
+      0.92,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.1,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.38,
+       -0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.92,
+       -0.38,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.02,
+      3.05,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.78,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      1.1,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      0.76,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       -0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      0.8,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.69,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.76,
+       0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.57,
+      2.88,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.34,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.08,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.13,
+      3.77,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.38,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.1,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.18,
+      3.51,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.4,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       0.8,
+       0.59
+      ],
+      [
+       -0.01,
+       0.59,
+       -0.8
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.1,
+      3.51,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.35,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.09,
+       -0.02
+      ],
+      [
+       0.09,
+       0.76,
+       0.64
+      ],
+      [
+       -0.04,
+       -0.64,
+       0.77
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.17,
+      3.77,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.38,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.69,
+      2.9,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      2.14,
+      0.93,
+      2.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.01,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.7,
+      2.3,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      2.14,
+      0.47,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.91,
+      -0.25
+     ],
+     [
+      5.69,
+      -0.25
+     ],
+     [
+      5.69,
+      4.53
+     ],
+     [
+      0.91,
+      4.53
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/7831862f02.json b/data/spatial codes/ground truth/compact/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..12c16b735efef54071ac6884ad2f0f6c405d9a76
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/7831862f02.json	
@@ -0,0 +1,446 @@
+{
+ "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": {
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.95,
+      6.16,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      3.08,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.88,
+      6.08,
+      1.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      3.07,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.45,
+      5.92,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      3.08,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.28,
+      5.94,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      3.09,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.32,
+      0.82,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.77,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.42,
+       -0.91,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.37,
+      0.22,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.99,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.29,
+      3.46,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.08,
+      0.76,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.15,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.76,
+      4.82,
+      2.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.98,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       -0.1,
+       -0.63
+      ],
+      [
+       0.63,
+       -0.01,
+       0.78
+      ],
+      [
+       -0.09,
+       -0.99,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.15,
+      1.72,
+      2.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.1,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.67,
+       0.74,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.16,
+      2.47,
+      2.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.9,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       0.32,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.32,
+       0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.59,
+      -0.16
+     ],
+     [
+      7.23,
+      -0.16
+     ],
+     [
+      7.23,
+      6.47
+     ],
+     [
+      0.59,
+      6.47
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/7b6477cb95.json b/data/spatial codes/ground truth/compact/7b6477cb95.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e4bdc3a087fe524dc8d512392db55ecb06ec438
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/7b6477cb95.json	
@@ -0,0 +1,1074 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      1.52,
+      2.98
+     ],
+     "3D oriented bounding box dimensions": [
+      1.33,
+      0.32,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.89,
+      1.1,
+      2.9
+     ],
+     "3D oriented bounding box dimensions": [
+      1.32,
+      0.17,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       -0.15,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.09,
+      2.91,
+      2.92
+     ],
+     "3D oriented bounding box dimensions": [
+      1.3,
+      0.2,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       -0.15,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.55,
+      3.33,
+      2.92
+     ],
+     "3D oriented bounding box dimensions": [
+      1.29,
+      0.22,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.81,
+      0.4,
+      1.61
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      1.03,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.77,
+      4.02,
+      1.51
+     ],
+     "3D oriented bounding box dimensions": [
+      2.43,
+      1.24,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.15,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.14,
+      1.79,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.51,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.78,
+       0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.63,
+       0.78,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.54,
+      1.89,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.53,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.13,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.0,
+      2.39,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.53,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       0.2,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.56,
+      2.39,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.54,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.5,
+       -0.87,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.16,
+      2.24,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.54,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.12,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.08,
+      2.96,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      1.46,
+      0.41,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.24,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.97,
+       0.24,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.73,
+      0.73,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      1.3,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.13,
+       -0.07
+      ],
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.07,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.42,
+      1.6,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.4,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.24,
+       -0.96
+      ],
+      [
+       0.76,
+       0.59,
+       0.28
+      ],
+      [
+       0.63,
+       -0.77,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.91,
+      2.02,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.04,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.13,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.29,
+      2.2,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.0,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.08,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      3.84,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.95,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.73,
+       -0.68,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.14,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      1.13,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.15,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.98,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.11,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.13,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.71,
+      2.23,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.74,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       -0.16,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.67,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.78,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.42,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      0.9,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       -0.98,
+       0.02
+      ],
+      [
+       0.0,
+       -0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.22,
+      4.0,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.33,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.26,
+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.17,
+      1.65,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      2.1,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       -0.15,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      0.88,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      1.97,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.16,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.11,
+      1.62,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.13,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       -0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.11,
+       0.1
+      ],
+      [
+       -0.1,
+       0.02,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.1,
+      2.56,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.22,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.04,
+       -0.01
+      ],
+      [
+       0.04,
+       1.0,
+       -0.06
+      ],
+      [
+       0.01,
+       -0.06,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.46,
+      1.62,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.06,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.45,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.89,
+       -0.45,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.02,
+      1.64,
+      0.78
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+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       -0.18,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.72,
+      0.05
+     ],
+     [
+      5.0,
+      0.05
+     ],
+     [
+      5.0,
+      4.34
+     ],
+     [
+      0.72,
+      4.34
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/7bc286c1b6.json b/data/spatial codes/ground truth/compact/7bc286c1b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f96098852eb43cb16e2e98fb75c47923ed5a1a5
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/7bc286c1b6.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.34,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.12,
+      0.1
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+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
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+    "first visible time": null
+   }
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+      0.82,
+      0.31
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+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.37
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
+       0.0
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+       0.0,
+       1.0
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+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
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+    "outer boundary coordinates": [
+     [
+      0.53,
+      -0.19
+     ],
+     [
+      2.35,
+      -0.19
+     ],
+     [
+      2.35,
+      1.63
+     ],
+     [
+      0.53,
+      1.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/825d228aec.json b/data/spatial codes/ground truth/compact/825d228aec.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaaa3ee9d7ac0efdccba7fb98e1b99d7144c3209
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/825d228aec.json	
@@ -0,0 +1,386 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      1.57,
+      0.03
+     ],
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+      0.06
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ],
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+       0.0
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+   },
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+      1.46,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.08
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.33,
+       0.0
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+       0.0,
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+       0.0
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+    "first visible time": null
+   }
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+      0.48,
+      0.16
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+      0.32,
+      0.33
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.87,
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+       0.0,
+       1.0
+      ],
+      [
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+       0.49,
+       0.0
+      ]
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+    },
+    "first visible time": null
+   }
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+  "printer": [
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+      1.52,
+      0.59
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+     "3D oriented bounding box dimensions": [
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+      0.61
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ]
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+    "first visible time": null
+   }
+  ],
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+      0.06,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       1.0
+      ],
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+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      1.12,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      1.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
+      [
+       -0.01,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.68,
+      2.48
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.15,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      0.54,
+      2.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -0.19
+     ],
+     [
+      3.03,
+      -0.19
+     ],
+     [
+      3.03,
+      2.32
+     ],
+     [
+      0.52,
+      2.32
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/9071e139d9.json b/data/spatial codes/ground truth/compact/9071e139d9.json
new file mode 100644
index 0000000000000000000000000000000000000000..c72e8659da3c67284c9e2f97ec0dc11301b1389a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/9071e139d9.json	
@@ -0,0 +1,900 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.67,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.79,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.89,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
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+       -0.45,
+       0.0
+      ]
+     ]
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+    "first visible time": null
+   },
+   {
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+      1.88,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.78,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.07,
+       0.0
+      ],
+      [
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+       1.0
+      ],
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+       1.0,
+       0.0
+      ]
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+    "first visible time": null
+   },
+   {
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+      2.77,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.79,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
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+      ],
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+       1.0
+      ],
+      [
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+       0.32,
+       0.0
+      ]
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+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.38,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.79,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ],
+      [
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+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      1.82,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.78,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.52,
+       -0.85,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.23,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.73
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+    "3D oriented bounding box": {
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+      3.21,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+   },
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+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": null
+   },
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+     "3D oriented bounding box dimensions": [
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+    "first visible time": null
+   },
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+     "3D oriented bounding box orientation unit vectors": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ]
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+    "first visible time": null
+   },
+   {
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+      1.46,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.31,
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+       -0.79,
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+      ],
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+       -0.53,
+       0.74
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -0.81
+     ],
+     [
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+     ],
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+      5.73
+     ],
+     [
+      1.76,
+      5.73
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/99fa5c25e1.json b/data/spatial codes/ground truth/compact/99fa5c25e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..5247b91ff672191102efad2fcbe6ac8aac645aaa
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/99fa5c25e1.json	
@@ -0,0 +1,282 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+      1.69,
+      0.55
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+      1.04,
+      0.16
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+      0.32,
+      0.29
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+       0.35,
+       0.0
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+      0.6,
+      0.15
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+      0.3,
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+       0.0,
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+       0.5,
+       0.0
+      ]
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+    },
+    "first visible time": null
+   },
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+      4.4,
+      0.14
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+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
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+       0.0,
+       1.0
+      ],
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+       0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      4.74,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.16,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -0.01
+     ],
+     [
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+      -0.01
+     ],
+     [
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+      5.21
+     ],
+     [
+      0.94,
+      5.21
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/a24f64f7fb.json b/data/spatial codes/ground truth/compact/a24f64f7fb.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6835703ca5427916b854ad93a1f7f5241d025d4
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/a24f64f7fb.json	
@@ -0,0 +1,388 @@
+{
+ "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": {
+  "monitor": [
+   {
+    "3D oriented bounding box": {
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+      1.04,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.46,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
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+       -0.42,
+       0.0
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
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+      1.43,
+      0.68
+     ],
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+      1.33,
+      0.69
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.27,
+       0.0
+      ],
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+       0.0,
+       1.0
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+      [
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+       0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
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+      1.7,
+      1.04
+     ],
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+      2.07,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.4,
+       0.0
+      ],
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+       0.0,
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+      ],
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+       0.92,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+      1.12,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.87,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+      ],
+      [
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+       -0.42,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      0.63,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.79,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.43,
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
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+       0.9,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.5
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.72,
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+      ],
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+       0.0,
+       1.0
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+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.12,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
+       0.0
+      ],
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+       0.07,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer mouse": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.42,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
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+       0.83,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
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+      0.79,
+      0.69
+     ],
+     [
+      3.97,
+      0.69
+     ],
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+      3.88
+     ],
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+      3.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/a8bf42d646.json b/data/spatial codes/ground truth/compact/a8bf42d646.json
new file mode 100644
index 0000000000000000000000000000000000000000..325f3478b0a1a839c14e62c0c6e9b78d8d419d08
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/a8bf42d646.json	
@@ -0,0 +1,480 @@
+{
+ "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"
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+      "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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+    {
+     "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": {
+  "trash can": [
+   {
+    "3D oriented bounding box": {
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+      0.99,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
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+       0.0
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+   },
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+      0.7,
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+      0.54,
+      0.35
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+       0.0,
+       1.0
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+       0.0
+      ]
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+      7.23,
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+      0.55,
+      0.38
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+       0.89,
+       0.0
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+       0.0,
+       1.0
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+       0.0
+      ]
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+    "first visible time": null
+   }
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+      3.98,
+      1.07
+     ],
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+      1.2,
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+      2.14,
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+      0.5,
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+       -0.67,
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+       0.0
+      ]
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+    "first visible time": null
+   }
+  ],
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+      2.26,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.73,
+       0.0
+      ]
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+    },
+    "first visible time": null
+   },
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+      1.67,
+      0.32
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+      0.62,
+      0.55
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+       0.58,
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+       0.0,
+       1.0
+      ],
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+       0.81,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      4.47,
+      0.56
+     ],
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+      1.1,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.67,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.67,
+       -0.74,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.77,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.83,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.74,
+       0.67,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.67,
+       0.74,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.38,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.76,
+       0.65,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      0.03
+     ],
+     [
+      8.26,
+      0.03
+     ],
+     [
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+      6.46
+     ],
+     [
+      1.82,
+      6.46
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/a980334473.json b/data/spatial codes/ground truth/compact/a980334473.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a99a7fe05bfbf2efcc592d734a72e83c8b1d4b9
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/a980334473.json	
@@ -0,0 +1,254 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.41,
+      1.17,
+      2.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       -0.03,
+       -0.01
+      ],
+      [
+       0.03,
+       -1.0,
+       0.03
+      ],
+      [
+       -0.01,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.28,
+      1.36,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.82,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.35,
+       -0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.23,
+      1.13,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      2.56,
+      0.42,
+      1.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.02,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      0.05,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      2.1,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.65,
+      -0.22
+     ],
+     [
+      3.16,
+      -0.22
+     ],
+     [
+      3.16,
+      2.28
+     ],
+     [
+      0.65,
+      2.28
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/ac48a9b736.json b/data/spatial codes/ground truth/compact/ac48a9b736.json
new file mode 100644
index 0000000000000000000000000000000000000000..70493511313e78605c502be1d2087941691c10fb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/ac48a9b736.json	
@@ -0,0 +1,1512 @@
+{
+ "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": {
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      15.21,
+      4.86,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.57,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.33,
+       0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      7.71,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.93,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.67,
+       0.74,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      8.71,
+      12.22,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      1.1,
+      0.6
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+     "3D oriented bounding box center coordinates": [
+      7.98,
+      12.11,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.04,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.93,
+       0.36,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.4,
+      10.46,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.04,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       -0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.48,
+      1.86,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.7,
+      0.61,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       -0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.93,
+       -0.36,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      12.13,
+      3.54,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.7,
+      0.61,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.34,
+       -0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      14.3,
+      4.34,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.7,
+      0.6,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.34,
+       0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      9.82,
+      2.73,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.7,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.3,
+       0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.18,
+      4.66,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
+      1.83,
+      1.29,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.94,
+       0.35,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      2.19,
+      1.82
+     ],
+     [
+      13.52,
+      1.82
+     ],
+     [
+      13.52,
+      13.16
+     ],
+     [
+      2.19,
+      13.16
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/acd95847c5.json b/data/spatial codes/ground truth/compact/acd95847c5.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e65dda354057a83f3c5c2c280f1e098517ccc02
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/acd95847c5.json	
@@ -0,0 +1,1172 @@
+{
+ "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": {
+  "computer tower": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.43,
+      1.37,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.43,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       -0.18,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.16,
+      2.79,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.42,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.3,
+       -0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.0,
+      1.27,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.85,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.05,
+      2.36,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.96,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.13,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.81,
+      0.96,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      1.07,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.13,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.82,
+      2.78,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.98,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.06
+      ],
+      [
+       -0.06,
+       -0.01,
+       1.0
+      ],
+      [
+       -0.04,
+       -1.0,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      2.58,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      2.12,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.81,
+      1.16,
+      2.78
+     ],
+     "3D oriented bounding box dimensions": [
+      1.31,
+      0.17,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.78,
+      2.73,
+      2.78
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.19,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.66,
+      2.8,
+      2.74
+     ],
+     "3D oriented bounding box dimensions": [
+      1.3,
+      0.11,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.7,
+      1.21,
+      2.78
+     ],
+     "3D oriented bounding box dimensions": [
+      1.32,
+      0.18,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      1.83,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.32,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.25,
+      1.55,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.31,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.09,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      0.76,
+      1.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.27,
+      2.63,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.35,
+      1.01,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.13,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.13,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.38,
+      0.5,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.08,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.59,
+       -0.8,
+       -0.14
+      ],
+      [
+       0.44,
+       0.46,
+       -0.78
+      ],
+      [
+       0.68,
+       0.39,
+       0.61
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.77,
+      0.17,
+      1.54
+     ],
+     "3D oriented bounding box dimensions": [
+      2.0,
+      1.08,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.47,
+      1.89,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.74,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.49,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.77,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.02,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.38,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      1.81,
+      0.75,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.05,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.81,
+      2.37,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.07,
+       -0.03
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.03,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.09,
+      1.41,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.03,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.04,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.78,
+      1.87,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.04,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.37,
+      1.43,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.04,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.66,
+       -0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.75,
+       -0.66,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.65,
+      1.45,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.47,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.05,
+      1.65,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.5,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.99,
+      2.14,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.51,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.03,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.34,
+      1.76,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.23,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.12,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.43,
+      2.19,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.08,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.52,
+       0.18
+      ],
+      [
+       -0.49,
+       0.57,
+       0.66
+      ],
+      [
+       0.24,
+       -0.64,
+       0.73
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.95,
+      2.51,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.03,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.84,
+      3.17,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.34,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.13,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.92,
+      0.63,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.42,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.1,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.5,
+      -0.13
+     ],
+     [
+      4.76,
+      -0.13
+     ],
+     [
+      4.76,
+      4.13
+     ],
+     [
+      0.5,
+      4.13
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/b0a08200c9.json b/data/spatial codes/ground truth/compact/b0a08200c9.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa305f3ed9505b1077ced26e79857040337f3e5
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/b0a08200c9.json	
@@ -0,0 +1,1318 @@
+{
+ "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": {
+  "computer tower": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.86,
+      0.74,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.47,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.15,
+      0.7,
+      1.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.44,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.24,
+      0.79,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.46,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.95,
+      0.86,
+      1.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.37,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.84,
+      0.78,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.43,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.08,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.24,
+      0.68,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.43,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.14,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.46,
+      0.75,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.42,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.11,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.64,
+      0.76,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.42,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.66,
+      0.78,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.43,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.46,
+      0.84,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.48,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.35,
+      0.75,
+      1.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.36,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       -0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.79,
+       0.62,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.77,
+      0.83,
+      1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.35,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.13,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.48,
+      0.71,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.45,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.62,
+      0.69,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.46,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.84,
+      0.8,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.45,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.02,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.12,
+      0.74,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.44,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.7,
+      0.68,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.45,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.13,
+      0.64,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.45,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.73,
+      0.69,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.47,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.98,
+      0.81,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.47,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.17,
+      0.75,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.46,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.08,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.4,
+      0.7,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.45,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.04,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.66,
+      0.56,
+      1.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.46,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       -0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.96,
+       0.29,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.88,
+      0.75,
+      1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.46,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.1,
+      0.79,
+      1.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.43,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.5,
+       0.87,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.81,
+      1.23,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.79,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.49,
+      0.96,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.04,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       0.21,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.49,
+      0.87,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.04,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.98,
+       -0.17,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.4,
+      0.89,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.04,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      1.01,
+      2.86
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      0.32,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.78,
+      0.93,
+      2.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      1.46,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.07,
+       0.15
+      ],
+      [
+       0.07,
+       1.0,
+       0.03
+      ],
+      [
+       -0.14,
+       0.04,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      1.06,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      2.12,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.83,
+      1.01,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.16,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.02
+      ],
+      [
+       -0.08,
+       0.99,
+       -0.07
+      ],
+      [
+       -0.02,
+       0.06,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.84,
+      0.9,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.06,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.79,
+      0.51,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.52,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.76,
+      0.76,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.45,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       -0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.82,
+      1.76,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.7,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.11,
+      -0.51
+     ],
+     [
+      4.09,
+      -0.51
+     ],
+     [
+      4.09,
+      2.47
+     ],
+     [
+      1.11,
+      2.47
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/bcd2436daf.json b/data/spatial codes/ground truth/compact/bcd2436daf.json
new file mode 100644
index 0000000000000000000000000000000000000000..806e1ba3bf04fa69e005fb2aa8c6ff859a05dd56
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/bcd2436daf.json	
@@ -0,0 +1,388 @@
+{
+ "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": {
+  "shoes": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      2.46,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.09,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.18,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.49,
+      2.84,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.1,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       -0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.61,
+       -0.79,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      0.83,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.82,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.13,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.13,
+      2.93,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.41,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.01
+      ],
+      [
+       -0.22,
+       0.96,
+       -0.16
+      ],
+      [
+       -0.04,
+       0.16,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      3.24,
+      1.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.1,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.18,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      2.8,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.89,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.23,
+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.3,
+      1.87,
+      2.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.16,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.91,
+       0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.42,
+       0.91,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.17,
+      2.18,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      2.45,
+      1.13,
+      1.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.45,
+      0.15
+     ],
+     [
+      3.92,
+      0.15
+     ],
+     [
+      3.92,
+      3.61
+     ],
+     [
+      0.45,
+      3.61
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file