diff --git a/data/spatial codes/ground truth/explicit/scene0149_00.json b/data/spatial codes/ground truth/explicit/scene0149_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b23a245f6641c4c5dcd877cd264d96eb5640276
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0149_00.json	
@@ -0,0 +1,347 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "2.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.59 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.07 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.03 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.77 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.08 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   }
+  },
+  "counter": {
+   "refrigerator": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.37 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   }
+  },
+  "microwave": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.76 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.28 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.37 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.28 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "counter", "refrigerator", "microwave", "trash bin", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0153_00.json b/data/spatial codes/ground truth/explicit/scene0153_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..42da2f85fa3700eee8b692682fc0973aebec06e4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0153_00.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "towel": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "1.82 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "4.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "towel": {
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   }
+  },
+  "mirror": {
+   "towel": {
+    "distance": "0.77 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.94 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "towel": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.94 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["towel", "mirror", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0164_02.json b/data/spatial codes/ground truth/explicit/scene0164_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcdfa2cbd7a71946223eaea2099866f45a804f43
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0164_02.json	
@@ -0,0 +1,276 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.86 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "-1.72 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-1.56 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.87 meters",
+    "closeness rank": 5
+   }
+  },
+  "towel": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.05 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   }
+  },
+  "backpack": {
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "2.12 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "3.18 meters",
+    "closeness rank": 5
+   }
+  },
+  "microwave": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.03 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.18 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "2.05 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "3.03 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["towel", "counter", "microwave", "refrigerator", "backpack", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0169_01.json b/data/spatial codes/ground truth/explicit/scene0169_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f7d3cc7968634363d567a15d54356fd29a78a42
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0169_01.json	
@@ -0,0 +1,452 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 22,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.09 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.69 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "-2.26 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-2.99 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "-2.71 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "-2.42 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-2.11 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-1.81 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-1.56 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "-1.39 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "-2.87 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "1.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.63 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.55 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.25 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.3 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "3.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "2.63 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.49 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "1.49 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "3.34 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "3.21 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.27 meters",
+    "closeness rank": 5
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "2.63 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "3.07 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "3.27 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.32 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "3.21 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.32 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "3.34 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.07 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.75 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "backpack", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0193_01.json b/data/spatial codes/ground truth/explicit/scene0193_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ffeb1499cbb982ec5507c72912bff4f9fcc70c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0193_01.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "2.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.57 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "window", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0196_00.json b/data/spatial codes/ground truth/explicit/scene0196_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff962cb92cc4688e15fa88b7dda311b605acbfcf
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0196_00.json	
@@ -0,0 +1,429 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 23,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "-2.26 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-1.63 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.31 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "2.41 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "-2.27 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-2.2 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "3.29 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.06 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.59 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "2.09 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 4
+   }
+  },
+  "backpack": {
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.09 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "3.72 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.06 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "3.72 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "4.06 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "1.55 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "backpack", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0203_01.json b/data/spatial codes/ground truth/explicit/scene0203_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff59cdd38afc55707f57d306492d823a56f283fb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0203_01.json	
@@ -0,0 +1,411 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "-2.73 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-2.33 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "2.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.54 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "3.61 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "1.6 meters"
+     },
+     "longest dimension": "1.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.81 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.63 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.24 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "3.16 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.63 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.9 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "3.42 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.42 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.6 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "5.15 meters",
+    "closeness rank": 6
+   }
+  },
+  "bookshelf": {
+   "pillow": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.65 meters",
+    "closeness rank": 6
+   }
+  },
+  "pillow": {
+   "bookshelf": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.16 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.08 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.3 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "sofa": {
+    "distance": "1.9 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.02 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.24 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "3.3 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "4.65 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "5.15 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.69 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.02 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.6 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "window", "bookshelf", "pillow", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0207_02.json b/data/spatial codes/ground truth/explicit/scene0207_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d258d8c2ef3509672ff4d4df8d5d2dfafd31f2a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0207_02.json	
@@ -0,0 +1,1767 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "-2.59 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "-1.85 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "1.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "-2.95 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "2.25 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "-3.07 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "-2.08 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "-2.08 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.69 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "-2.51 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "2.19 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.59 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "1.6 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "-1.74 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "1.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.8 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.56 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.07 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.19 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.78 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.94 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.1 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "2.44 meters",
+    "closeness rank": 14
+   },
+   "counter": {
+    "distance": "2.95 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "2.9 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "4.04 meters",
+    "closeness rank": 17
+   },
+   "refrigerator": {
+    "distance": "4.25 meters",
+    "closeness rank": 18
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.8 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.92 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.54 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.6 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.83 meters",
+    "closeness rank": 11
+   },
+   "counter": {
+    "distance": "2.05 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.61 meters",
+    "closeness rank": 14
+   },
+   "towel": {
+    "distance": "3.44 meters",
+    "closeness rank": 15
+   },
+   "refrigerator": {
+    "distance": "3.9 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "4.06 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "4.49 meters",
+    "closeness rank": 18
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "1.05 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "1.35 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.41 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "1.84 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.96 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.06 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "2.1 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "2.91 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "2.56 meters",
+    "closeness rank": 15
+   },
+   "refrigerator": {
+    "distance": "2.85 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "3.74 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.89 meters",
+    "closeness rank": 18
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.87 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.51 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.19 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "3.1 meters",
+    "closeness rank": 12
+   },
+   "counter": {
+    "distance": "3.58 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.9 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "4.34 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "4.9 meters",
+    "closeness rank": 16
+   },
+   "refrigerator": {
+    "distance": "5.51 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "5.9 meters",
+    "closeness rank": 18
+   }
+  },
+  "counter": {
+   "towel": {
+    "distance": "1.23 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.19 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.05 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "2.26 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "2.95 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.87 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "3.52 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "3.52 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.58 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "3.88 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "3.78 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "4.16 meters",
+    "closeness rank": 18
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.55 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.85 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "3.25 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "3.43 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "3.64 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.9 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "4.25 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "4.67 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "5.27 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "5.37 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "5.51 meters",
+    "closeness rank": 16
+   },
+   "nightstand": {
+    "distance": "5.53 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "5.9 meters",
+    "closeness rank": 18
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.54 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.06 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "3.12 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "3.53 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.53 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "3.67 meters",
+    "closeness rank": 14
+   },
+   "counter": {
+    "distance": "4.16 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "4.61 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "5.56 meters",
+    "closeness rank": 17
+   },
+   "refrigerator": {
+    "distance": "5.9 meters",
+    "closeness rank": 18
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.99 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.19 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.41 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.63 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.37 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "counter": {
+    "distance": "2.87 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "3.56 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "3.8 meters",
+    "closeness rank": 16
+   },
+   "refrigerator": {
+    "distance": "4.67 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "4.7 meters",
+    "closeness rank": 18
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.43 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.35 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "1.75 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.02 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.95 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.32 meters",
+    "closeness rank": 13
+   },
+   "counter": {
+    "distance": "3.52 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "4.08 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "4.44 meters",
+    "closeness rank": 16
+   },
+   "refrigerator": {
+    "distance": "5.27 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "5.39 meters",
+    "closeness rank": 18
+   }
+  },
+  "towel": {
+   "counter": {
+    "distance": "1.23 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.93 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.97 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.9 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.91 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "3.53 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "2.9 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.44 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "3.8 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "4.44 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "4.54 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "4.61 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "4.82 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "4.9 meters",
+    "closeness rank": 18
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "0.64 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.84 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.46 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "3.23 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.45 meters",
+    "closeness rank": 13
+   },
+   "counter": {
+    "distance": "3.88 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "4.0 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "4.54 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "5.54 meters",
+    "closeness rank": 17
+   },
+   "refrigerator": {
+    "distance": "5.53 meters",
+    "closeness rank": 18
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.63 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.51 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.45 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.19 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.02 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.28 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.46 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "3.53 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "3.12 meters",
+    "closeness rank": 15
+   },
+   "refrigerator": {
+    "distance": "3.25 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "4.35 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "4.25 meters",
+    "closeness rank": 18
+   }
+  },
+  "closet": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.45 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.7 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "1.75 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.83 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.93 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "1.96 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.19 meters",
+    "closeness rank": 14
+   },
+   "counter": {
+    "distance": "2.26 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "2.34 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "2.86 meters",
+    "closeness rank": 17
+   },
+   "refrigerator": {
+    "distance": "3.43 meters",
+    "closeness rank": 18
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "1.05 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.99 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "2.44 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.68 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "2.86 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "3.74 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "4.35 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "4.04 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "4.49 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "4.7 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "5.39 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "5.54 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "5.56 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "5.87 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "5.9 meters",
+    "closeness rank": 18
+   }
+  },
+  "mirror": {
+   "closet": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.9 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.69 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.44 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.53 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "3.56 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "3.59 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "3.64 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "4.25 meters",
+    "closeness rank": 11
+   },
+   "counter": {
+    "distance": "3.78 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "3.89 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "4.0 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "4.06 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "4.08 meters",
+    "closeness rank": 16
+   },
+   "window": {
+    "distance": "4.34 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "4.81 meters",
+    "closeness rank": 18
+   }
+  },
+  "radiator": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.07 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.49 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.54 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.34 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "3.0 meters",
+    "closeness rank": 12
+   },
+   "counter": {
+    "distance": "3.52 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.85 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "4.81 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "4.82 meters",
+    "closeness rank": 16
+   },
+   "refrigerator": {
+    "distance": "5.37 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "5.87 meters",
+    "closeness rank": 18
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.97 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.89 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.93 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.44 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.37 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "2.68 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "2.95 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "3.0 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.1 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "3.23 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "3.59 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "3.67 meters",
+    "closeness rank": 18
+   }
+  },
+  "door": {
+   "microwave": {
+    "distance": "1.05 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.78 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.28 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "2.06 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.61 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.32 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "3.45 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "3.53 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "3.85 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "3.9 meters",
+    "closeness rank": 18
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "3.99 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.03 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.11 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.93 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "0.57 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "0.9 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "0.72 meters",
+    "closeness rank": 13
+   },
+   "refrigerator": {
+    "distance": "3.55 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "0.98 meters",
+    "closeness rank": 15
+   },
+   "counter": {
+    "distance": "2.19 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "1.55 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "2.69 meters",
+    "closeness rank": 18
+   }
+  }
+ },
+ "appearance order": ["window", "table", "radiator", "printer", "pillow", "monitor", "closet", "bed", "sofa", "chair", "backpack", "nightstand", "trash bin", "towel", "refrigerator", "counter", "microwave", "door", "mirror"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0208_00.json b/data/spatial codes/ground truth/explicit/scene0208_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad7f880b3de9049222c75961bcc18b150868f732
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0208_00.json	
@@ -0,0 +1,88 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "-2.52 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.27 meters",
+      "y coordinate": "-1.69 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "37.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {}
+ },
+ "appearance order": ["table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0221_01.json b/data/spatial codes/ground truth/explicit/scene0221_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fabed2cb33db484c14e435c0def0f6104d484fa
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0221_01.json	
@@ -0,0 +1,656 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "2.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.97 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "2.19 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.65 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.92 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-1.43 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "-1.62 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.95 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "-1.58 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "-1.85 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.1 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.1 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.2 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "1.62 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.93 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.07 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.62 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "3.09 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.41 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.46 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "3.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "3.14 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.63 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.78 meters",
+    "closeness rank": 9
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.24 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.31 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.45 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "3.04 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.16 meters",
+    "closeness rank": 9
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.12 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.2 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.6 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "2.8 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "3.0 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.24 meters",
+    "closeness rank": 9
+   }
+  },
+  "microwave": {
+   "bed": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "3.14 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "2.6 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.45 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "3.06 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "3.04 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "5.77 meters",
+    "closeness rank": 9
+   }
+  },
+  "radiator": {
+   "chair": {
+    "distance": "3.09 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.62 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.54 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "2.8 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.92 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "6.88 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "5.77 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "5.99 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "bed": {
+    "distance": "1.07 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "3.63 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.42 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "3.0 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "3.04 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "5.99 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "3.37 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.41 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.13 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "2.17 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "4.78 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "4.24 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "4.16 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "6.88 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "3.37 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "2.54 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "2.2 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.31 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "3.06 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "pillow", "lamp", "nightstand", "microwave", "radiator", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0222_01.json b/data/spatial codes/ground truth/explicit/scene0222_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eb5d9053fb7119785612c3808b078ca35e5c8be
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0222_01.json	
@@ -0,0 +1,854 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "2.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-1.88 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "1.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-1.3 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "-2.66 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "2.01 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "-2.63 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-2.76 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "-2.82 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.49 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "1.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "-2.0 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.05 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.56 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.83 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "lamp": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.43 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.48 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "1.63 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "1.28 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "2.05 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "3.41 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.89 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.66 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "3.14 meters",
+    "closeness rank": 11
+   }
+  },
+  "refrigerator": {
+   "trash bin": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "2.51 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.71 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.66 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.83 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "1.74 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "1.91 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.41 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.37 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "2.71 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "0.93 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "3.4 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "2.73 meters",
+    "closeness rank": 11
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.48 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.1 meters",
+    "closeness rank": 11
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.55 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.15 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "2.64 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "3.14 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.17 meters",
+    "closeness rank": 11
+   }
+  },
+  "fan": {
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "2.73 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.48 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.83 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.93 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.64 meters",
+    "closeness rank": 11
+   }
+  },
+  "radiator": {
+   "bed": {
+    "distance": "1.93 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "3.4 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.76 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.74 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.95 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.1 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "3.17 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash bin": {
+   "bed": {
+    "distance": "1.29 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.37 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.4 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.89 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "1.55 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "1.76 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "2.51 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.4 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.83 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "1.95 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.24 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.01 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.17 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.32 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "0.4 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "0.52 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["table", "pillow", "door", "chair", "bed", "window", "nightstand", "radiator", "refrigerator", "lamp", "fan", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0231_00.json b/data/spatial codes/ground truth/explicit/scene0231_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c157cfb79c73e3caa0faf0e647d99e2598d6c18
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0231_00.json	
@@ -0,0 +1,1084 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.95 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.49 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.54 meters",
+      "y coordinate": "-1.65 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.61 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "1.89 meters"
+     },
+     "longest dimension": "1.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "-1.89 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "5.42 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.99 meters",
+      "y coordinate": "-1.37 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.89 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "1.77 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "-1.8 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "3.12 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "1.91 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.82 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "2.1 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.57 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "39.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.04 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.55 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.25 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.44 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "2.17 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "3.92 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "3.59 meters",
+    "closeness rank": 13
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.86 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "2.05 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "2.84 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.17 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.52 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "4.13 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "5.37 meters",
+    "closeness rank": 13
+   }
+  },
+  "window": {
+   "counter": {
+    "distance": "2.33 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "5.44 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.7 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.68 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.71 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.08 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "4.13 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "4.87 meters",
+    "closeness rank": 13
+   }
+  },
+  "counter": {
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.03 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "0.47 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.18 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "2.05 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.28 meters",
+    "closeness rank": 13
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.17 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.78 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.26 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.35 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "3.8 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "3.98 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "4.13 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "4.13 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "4.39 meters",
+    "closeness rank": 13
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.68 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "3.11 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.48 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.78 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "4.39 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "5.59 meters",
+    "closeness rank": 13
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "1.9 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.55 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.88 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.7 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.15 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "3.11 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.95 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.44 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "3.98 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "5.39 meters",
+    "closeness rank": 13
+   }
+  },
+  "plant": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "5.44 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.92 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.52 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "3.44 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "3.65 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "5.06 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.78 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.77 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "3.8 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "4.21 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "4.31 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "4.39 meters",
+    "closeness rank": 13
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.15 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.64 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.86 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.22 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "2.26 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "3.49 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "4.21 meters",
+    "closeness rank": 13
+   }
+  },
+  "microwave": {
+   "counter": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.92 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "2.43 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.59 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.43 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "5.2 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "3.49 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "4.39 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "4.87 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "5.39 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "5.37 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "5.59 meters",
+    "closeness rank": 13
+   }
+  },
+  "clock": {
+   "door": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.31 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.82 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "2.43 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "3.11 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.84 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.71 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "3.11 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.65 meters",
+    "closeness rank": 13
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.88 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "2.18 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.35 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.27 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "2.82 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.55 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "3.78 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "5.2 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "5.06 meters",
+    "closeness rank": 13
+   }
+  },
+  "door": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.35 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "1.92 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.95 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "3.08 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.17 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "3.48 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.77 meters",
+    "closeness rank": 13
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.9 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.25 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.74 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.31 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.32 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "2.35 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "3.43 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "4.31 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "microwave", "counter", "chair", "window", "lamp", "sofa", "pillow", "plant", "backpack", "clock", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0246_00.json b/data/spatial codes/ground truth/explicit/scene0246_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f010a056ff5906abb3c07d43822e75ba964ec544
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0246_00.json	
@@ -0,0 +1,466 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.3 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "lamp": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.22 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.3 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "1.74 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.89 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.98 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.6 meters",
+    "closeness rank": 7
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "2.48 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.89 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   }
+  },
+  "towel": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "2.48 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.74 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   }
+  },
+  "mirror": {
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "mirror": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.98 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "pillow", "lamp", "towel", "nightstand", "mirror", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0251_00.json b/data/spatial codes/ground truth/explicit/scene0251_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..b55f59fb8d5214c76dfae3df6b64688c0ca705ec
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0251_00.json	
@@ -0,0 +1,301 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.77 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "1.28 meters"
+     },
+     "longest dimension": "2.7 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.49 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.74 meters",
+      "y coordinate": "-1.69 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.05 meters",
+      "y coordinate": "-2.54 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.22 meters",
+      "y coordinate": "-2.07 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.71 meters",
+      "y coordinate": "-2.99 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.61 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.54 meters",
+      "y coordinate": "-4.34 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "-3.89 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "3.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "35.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.67 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "2.78 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "4.26 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "4.38 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.78 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "4.38 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "4.26 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0277_02.json b/data/spatial codes/ground truth/explicit/scene0277_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ca69408690fc93166625c77787bdf6f782f6901
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0277_02.json	
@@ -0,0 +1,347 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "1.71 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.24 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.86 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.82 meters",
+    "closeness rank": 6
+   }
+  },
+  "radiator": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.63 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.39 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "bed": {
+    "distance": "1.69 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.46 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.86 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "3.39 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "3.63 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "3.82 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "window", "radiator", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0304_00.json b/data/spatial codes/ground truth/explicit/scene0304_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eca85e5ef10928bfea00a6850328fe7d06345a5
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0304_00.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "-3.18 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "trash bin": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "3.18 meters",
+    "closeness rank": 2
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "4.92 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "3.18 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "4.92 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["backpack", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0307_02.json b/data/spatial codes/ground truth/explicit/scene0307_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..806b76349ffe117bb5502d7b867681c813ccc3eb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0307_02.json	
@@ -0,0 +1,387 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "-3.48 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.91 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "-2.75 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "-1.84 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "washing machine": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.37 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "3.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "2.68 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "1.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.74 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "1.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.88 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.61 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "29.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "5.06 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.03 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "refrigerator": {
+    "distance": "0.65 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.95 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "5.81 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.06 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "4.26 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "4.8 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "window": {
+    "distance": "0.65 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.38 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.03 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "3.04 meters",
+    "closeness rank": 5
+   },
+   "washing machine": {
+    "distance": "3.93 meters",
+    "closeness rank": 6
+   }
+  },
+  "washing machine": {
+   "door": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "5.81 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.93 meters",
+    "closeness rank": 6
+   }
+  },
+  "radiator": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.8 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.04 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.95 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.92 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.25 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "4.26 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "refrigerator", "washing machine", "radiator", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0316_00.json b/data/spatial codes/ground truth/explicit/scene0316_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..913dc3634b7eb1a25607bb66545c3da516ad3af6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0316_00.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.31 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.28 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.28 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0328_00.json b/data/spatial codes/ground truth/explicit/scene0328_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..95db5c3a8fbfa436216a4d2b227b75f64ecefc7d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0328_00.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "1.76 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "4.48 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "-1.21 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "counter": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "counter": {
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "microwave": {
+   "oven": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "oven": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "counter", "refrigerator", "microwave", "oven"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0338_00.json b/data/spatial codes/ground truth/explicit/scene0338_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..61ec904359243ead1f2f990f9b619c0486a72b31
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0338_00.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-1.0 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "3.43 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.94 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.44 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "trash bin": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["counter", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0353_00.json b/data/spatial codes/ground truth/explicit/scene0353_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbeb5e413d47da7b260915d2da2f41e1f8b305cc
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0353_00.json	
@@ -0,0 +1,830 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.69 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "2.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "-1.43 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "-1.95 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-1.64 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.55 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "1.86 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.36 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "1.96 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.21 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.02 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "2.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "backpack": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.6 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "2.34 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.22 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.77 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.72 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.31 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.87 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.9 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "3.07 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "0.65 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.47 meters",
+    "closeness rank": 11
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "1.27 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.61 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.14 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "1.34 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.6 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.85 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.6 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.91 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.24 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "4.91 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "4.97 meters",
+    "closeness rank": 11
+   }
+  },
+  "bookshelf": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.07 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.35 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "2.72 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.82 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.9 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "4.97 meters",
+    "closeness rank": 11
+   }
+  },
+  "refrigerator": {
+   "backpack": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.28 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.14 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.24 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.35 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.85 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.4 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.78 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.09 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.78 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.79 meters",
+    "closeness rank": 11
+   }
+  },
+  "backpack": {
+   "bed": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.78 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.78 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.97 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.77 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.9 meters",
+    "closeness rank": 11
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.47 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.41 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.79 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.78 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.34 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "3.91 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash bin": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.31 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.4 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.41 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "2.77 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.77 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.98 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "4.91 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "1.9 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.09 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.22 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "4.24 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.09 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.78 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.98 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.82 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["trash bin", "sofa", "pillow", "door", "chair", "bookshelf", "table", "bed", "backpack", "window", "refrigerator", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0354_00.json b/data/spatial codes/ground truth/explicit/scene0354_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5725e38c5df6433ef5f1edbe0ff2a315878edf50
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0354_00.json	
@@ -0,0 +1,332 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "-0.92 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "2.8 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.91 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.9 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.45 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.9 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.0 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.91 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.0 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.45 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "tv", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0356_00.json b/data/spatial codes/ground truth/explicit/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a9f68731a20b3b0ad8dd8387500d621ba1350c2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0356_00.json	
@@ -0,0 +1,434 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "2.34 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.92 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.3 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.13 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.86 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.55 meters",
+    "closeness rank": 7
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "2.69 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.94 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "3.8 meters",
+    "closeness rank": 7
+   }
+  },
+  "radiator": {
+   "door": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "2.1 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.69 meters",
+    "closeness rank": 7
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.06 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "2.1 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.53 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.55 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.79 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "3.8 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.41 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.79 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "radiator": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.86 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.41 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.94 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.07 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.96 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.53 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "window", "radiator", "telephone", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0357_01.json b/data/spatial codes/ground truth/explicit/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..71df42d2c4c5d291a14ec0920c823ad91c0727f2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0357_01.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.97 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.67 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "towel": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.36 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.59 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "window": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.12 meters",
+    "closeness rank": 4
+   }
+  },
+  "backpack": {
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.32 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "1.07 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "2.32 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "3.12 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "3.59 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.36 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "towel", "backpack", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0378_01.json b/data/spatial codes/ground truth/explicit/scene0378_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2134f2ee243402669fd999ae0345c7d5025c637
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0378_01.json	
@@ -0,0 +1,545 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "3.11 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "1.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "-1.74 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "2.3 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "2.19 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bookshelf": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.6 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.54 meters",
+    "closeness rank": 8
+   }
+  },
+  "bookshelf": {
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.88 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.87 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.59 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.6 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.87 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   }
+  },
+  "printer": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.59 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.13 meters",
+    "closeness rank": 8
+   }
+  },
+  "clock": {
+   "bookshelf": {
+    "distance": "1.88 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.1 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.8 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.76 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.76 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "3.13 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.54 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.8 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.16 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["window", "trash bin", "table", "printer", "monitor", "chair", "bookshelf", "door", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0412_00.json b/data/spatial codes/ground truth/explicit/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..289eebed2c6c4cc917a773b9445ba6c828108127
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0412_00.json	
@@ -0,0 +1,215 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "trash bin": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.74 meters",
+      "y coordinate": "2.84 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "-3.12 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.13 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "-2.02 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "2.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "trash bin": {
+   "table": {
+    "distance": "2.58 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "5.01 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "5.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.18 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "2.58 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "3.18 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0426_00.json b/data/spatial codes/ground truth/explicit/scene0426_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..b69df7247540150d5b0b113bf6ad533eed55f247
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0426_00.json	
@@ -0,0 +1,632 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-1.37 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.09 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "-1.13 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.95 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.17 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "1.79 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "1.82 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.42 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.91 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.92 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.14 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.63 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.39 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "pillow": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.3 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.66 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.85 meters",
+    "closeness rank": 9
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.47 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.63 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.65 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "3.22 meters",
+    "closeness rank": 9
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.08 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.18 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.3 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.31 meters",
+    "closeness rank": 9
+   }
+  },
+  "tv": {
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.95 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.37 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "2.47 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "3.22 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.66 meters",
+    "closeness rank": 9
+   }
+  },
+  "backpack": {
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.49 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.95 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.08 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "1.92 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.68 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.13 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.31 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.65 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.63 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.85 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.18 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.38 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["table", "pillow", "monitor", "bed", "chair", "backpack", "tv", "door", "lamp", "window"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0435_02.json b/data/spatial codes/ground truth/explicit/scene0435_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..6531985b5153ec0dafd2bae2839e56a6df5e926d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0435_02.json	
@@ -0,0 +1,751 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.12 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "2.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "2.39 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "-2.26 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.83 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.86 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-1.87 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "1.66 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "1.9 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.55 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "-1.89 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.77 meters",
+      "y coordinate": "2.34 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.46 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "backpack": {
+    "distance": "2.28 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.98 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.46 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.73 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.21 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "1.94 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.75 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.77 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.1 meters",
+    "closeness rank": 10
+   }
+  },
+  "refrigerator": {
+   "bed": {
+    "distance": "2.98 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "3.27 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "3.82 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.73 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.85 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "5.0 meters",
+    "closeness rank": 10
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.75 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.79 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "3.82 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.71 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "3.0 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.9 meters",
+    "closeness rank": 10
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.6 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.57 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.03 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.76 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "3.27 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.17 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.77 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.76 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.73 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.9 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.91 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "3.43 meters",
+    "closeness rank": 10
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.53 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.58 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.6 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "2.85 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.91 meters",
+    "closeness rank": 10
+   }
+  },
+  "backpack": {
+   "bed": {
+    "distance": "2.28 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.94 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "2.79 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.7 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "3.43 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "4.59 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "3.03 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.96 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.58 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.0 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.7 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.99 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "1.75 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.98 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "2.53 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.65 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.77 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.99 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "3.1 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "4.59 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "5.0 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "2.6 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.14 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.71 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "refrigerator", "pillow", "lamp", "tv", "nightstand", "backpack", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0441_00.json b/data/spatial codes/ground truth/explicit/scene0441_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6e61d5adda7a89f8ab2e1e6e53a2c0d2bf607f1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0441_00.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "1.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "mirror": {
+   "trash bin": {
+    "distance": "2.51 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.67 meters",
+    "closeness rank": 2
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "2.51 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "3.38 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "3.38 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.67 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0458_00.json b/data/spatial codes/ground truth/explicit/scene0458_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb370a79a523549cc2df23a65e0125a9af202733
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0458_00.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "trash bin": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "mirror": {
+    "distance": "0.71 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "trash bin": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "towel", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0461_00.json b/data/spatial codes/ground truth/explicit/scene0461_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ebc3ca2030aad1a2cffb2fab1e1a6c351d27545
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0461_00.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "1.94 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0462_00.json b/data/spatial codes/ground truth/explicit/scene0462_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a15659e22936501ae688796ef109850cadf290a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0462_00.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.8 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "2.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "door": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "1.03 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   }
+  },
+  "printer": {
+   "trash bin": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.03 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "printer": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.9 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "1.55 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.9 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "printer", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0474_04.json b/data/spatial codes/ground truth/explicit/scene0474_04.json
new file mode 100644
index 0000000000000000000000000000000000000000..56be06bbad396d90d6ce52e4f559a95b15a922e2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0474_04.json	
@@ -0,0 +1,632 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "-1.12 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "2.33 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "2.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.61 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "2.01 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.45 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.53 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "-1.72 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.15 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "2.08 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "3.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.28 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.35 meters",
+    "closeness rank": 9
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "2.34 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.75 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.71 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.75 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "sofa": {
+    "distance": "2.34 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "3.53 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "3.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.62 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.75 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.18 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 9
+   }
+  },
+  "bookshelf": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.71 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.54 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.69 meters",
+    "closeness rank": 9
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "3.53 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.35 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.82 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "3.54 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.58 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.82 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "2.56 meters",
+    "closeness rank": 9
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "3.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.48 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.64 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "3.69 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.56 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.82 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.48 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.4 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.84 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.75 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.58 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.64 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.63 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.88 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "window", "bookshelf", "pillow", "monitor", "backpack", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0488_01.json b/data/spatial codes/ground truth/explicit/scene0488_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..853593efed6e61272baa35a8b605519b811b73b3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0488_01.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "2.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "2.67 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.75 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "-1.72 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "refrigerator": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "1.68 meters",
+    "closeness rank": 2
+   }
+  },
+  "microwave": {
+   "counter": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.68 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["counter", "refrigerator", "microwave"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0494_00.json b/data/spatial codes/ground truth/explicit/scene0494_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7bcd3fcde0163c8896ceffc3a68efb6d1b24101
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0494_00.json	
@@ -0,0 +1,245 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0496_00.json b/data/spatial codes/ground truth/explicit/scene0496_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..56857fe1e4446114c54822d25193198191735b3b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0496_00.json	
@@ -0,0 +1,373 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 16,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-1.39 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "-1.23 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "1.99 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.27 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "-2.44 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-2.48 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.86 meters",
+      "y coordinate": "-2.73 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "3.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "32.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.59 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.76 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "4.02 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.34 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "1.76 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.56 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "5.64 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "5.43 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "4.02 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "5.64 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "1.37 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.34 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "5.43 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0500_00.json b/data/spatial codes/ground truth/explicit/scene0500_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dbf6afefa48fcae23b8607ad6732da01c6fc06e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0500_00.json	
@@ -0,0 +1,518 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 39,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-4.7 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.28 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "-4.11 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.39 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "4.61 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "4.73 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "-3.53 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "-4.08 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "-4.07 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "-4.26 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "-1.69 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "2.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-1.56 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "-1.79 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "-2.69 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-4.87 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-4.98 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-4.98 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "1.83 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "2.39 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "3.06 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.32 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.33 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.4 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.69 meters",
+      "y coordinate": "4.61 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.03 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "1.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.67 meters",
+      "y coordinate": "-2.76 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "-4.07 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-5.86 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.42 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.75 meters",
+      "y coordinate": "3.21 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "5.46 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "52.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "7.62 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "8.33 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "4.4 meters",
+    "closeness rank": 3
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "8.33 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "4.15 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "5.51 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "4.4 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.01 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "5.51 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "7.62 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "4.15 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0518_00.json b/data/spatial codes/ground truth/explicit/scene0518_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1952be66025c2ea7aca33b66ccb2aa80c035384
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0518_00.json	
@@ -0,0 +1,300 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.29 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-1.58 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.71 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.3 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.41 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.41 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.84 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "pillow", "tv", "backpack", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0550_00.json b/data/spatial codes/ground truth/explicit/scene0550_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..247a2c5567283025404ee928339207944ab49ca1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0550_00.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-1.21 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "1.43 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "1.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "window": {
+    "distance": "0.59 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   }
+  },
+  "radiator": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.31 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "mirror": {
+    "distance": "1.29 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "2.15 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.5 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "mirror", "radiator", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0553_00.json b/data/spatial codes/ground truth/explicit/scene0553_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..73fd6866c5e9a7a53d49d5db540849e46f28665c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0553_00.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["backpack", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0565_00.json b/data/spatial codes/ground truth/explicit/scene0565_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f57524049342a0664728e5107aeaf4a53cfc9139
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0565_00.json	
@@ -0,0 +1,514 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-2.1 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.86 meters",
+      "y coordinate": "-2.47 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.69 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.27 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "-1.93 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "-1.13 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "-2.2 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "2.32 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "2.67 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.73 meters",
+    "closeness rank": 7
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "1.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.76 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.36 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.72 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.5 meters",
+    "closeness rank": 7
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "1.97 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "2.71 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.93 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.72 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.57 meters",
+    "closeness rank": 7
+   }
+  },
+  "printer": {
+   "keyboard": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.83 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "2.71 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.08 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   }
+  },
+  "keyboard": {
+   "printer": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.53 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.97 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.5 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "1.26 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.59 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.57 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "1.26 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.93 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.93 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.49 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "2.67 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "3.53 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "3.83 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.93 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.76 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.59 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "monitor", "printer", "keyboard", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0568_02.json b/data/spatial codes/ground truth/explicit/scene0568_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7cf0dfcc1dcd5b29563277a4af6a1de0dec9ec2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0568_02.json	
@@ -0,0 +1,308 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "-2.7 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "-2.22 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.76 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "3.0 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "-3.24 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.05 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "2.99 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.93 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "2.85 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "5.31 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "4.41 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "5.5 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.25 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.73 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.25 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "2.61 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "3.54 meters",
+    "closeness rank": 5
+   }
+  },
+  "bookshelf": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.61 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.79 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "5.35 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "5.66 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "5.5 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "5.35 meters",
+    "closeness rank": 5
+   }
+  },
+  "radiator": {
+   "table": {
+    "distance": "3.32 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.41 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.14 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.54 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "5.66 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "5.31 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "3.32 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "4.79 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "sofa", "chair", "bookshelf", "radiator", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0574_01.json b/data/spatial codes/ground truth/explicit/scene0574_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..18b5ef2b28e799c41eb4f31fcf03b0a8e9fbf814
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0574_01.json	
@@ -0,0 +1,206 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "towel": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-1.03 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.94 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "4.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "towel": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   }
+  },
+  "mirror": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "1.37 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "1.37 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["towel", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0575_01.json b/data/spatial codes/ground truth/explicit/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..c905d3ece28ccdf11e6d5172163f8286614c53c3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0575_01.json	
@@ -0,0 +1,356 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "2.46 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.4 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.68 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.7 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "2.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.35 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.02 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.34 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "2.02 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.26 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "5.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "2.35 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "5.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.26 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.05 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "tv", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0580_01.json b/data/spatial codes/ground truth/explicit/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb167e6d235f48d9a031edaff1f02ab0e05e71ea
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0580_01.json	
@@ -0,0 +1,798 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "2.23 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "2.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.77 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.32 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.5 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "0.51 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "0.83 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "0.67 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "1.43 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.66 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.96 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.09 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.35 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.07 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.07 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.52 meters",
+    "closeness rank": 11
+   }
+  },
+  "bookshelf": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.66 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.88 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.57 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.74 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.72 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.34 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.07 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.17 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.57 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.84 meters",
+    "closeness rank": 11
+   }
+  },
+  "nightstand": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.05 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.07 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.73 meters",
+    "closeness rank": 11
+   }
+  },
+  "backpack": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.43 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.52 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.81 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.88 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.36 meters",
+    "closeness rank": 11
+   }
+  },
+  "mirror": {
+   "bookshelf": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.81 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.03 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.15 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.17 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash bin": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.96 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.97 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.34 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.36 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.73 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.84 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.81 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.97 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.07 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.09 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.2 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.52 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.47 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.07 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["pillow", "nightstand", "lamp", "door", "bed", "backpack", "chair", "table", "window", "bookshelf", "mirror", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0591_01.json b/data/spatial codes/ground truth/explicit/scene0591_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1b3885230ac5a6bdbd34ce7155d5a3ad3cf9646
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0591_01.json	
@@ -0,0 +1,957 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.36 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.53 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "3.46 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.55 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.46 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "2.18 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "2.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "2.36 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.01 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.47 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.6 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.05 meters",
+    "closeness rank": 12
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.79 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.37 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.69 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.4 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.56 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.74 meters",
+    "closeness rank": 12
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.36 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.45 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.82 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.64 meters",
+    "closeness rank": 12
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.42 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.82 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.66 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.03 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.72 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.74 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.82 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "3.17 meters",
+    "closeness rank": 12
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.08 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.97 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.53 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.48 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.82 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.88 meters",
+    "closeness rank": 12
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.0 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.74 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.7 meters",
+    "closeness rank": 12
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.9 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.79 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.09 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.3 meters",
+    "closeness rank": 12
+   }
+  },
+  "backpack": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.36 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "2.2 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "2.42 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.74 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "3.17 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.93 meters",
+    "closeness rank": 12
+   }
+  },
+  "telephone": {
+   "monitor": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.63 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.4 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.72 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.33 meters",
+    "closeness rank": 12
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "3.83 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.9 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.53 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.66 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.42 meters",
+    "closeness rank": 12
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.0 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.0 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.79 meters",
+    "closeness rank": 12
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "3.83 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.88 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.05 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.3 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "3.79 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.93 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "4.33 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "4.64 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "4.7 meters",
+    "closeness rank": 12
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.12 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.09 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.03 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.42 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["window", "trash bin", "telephone", "table", "sofa", "plant", "monitor", "chair", "keyboard", "backpack", "pillow", "door", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0593_00.json b/data/spatial codes/ground truth/explicit/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0cf4f79f85d5af2c31ec768b3fd97046145b74b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0593_00.json	
@@ -0,0 +1,434 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.23 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.82 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.81 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "1.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "-0.4 meters",
+      "height above floor": "1.29 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "1.83 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "1.83 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.24 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.52 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "2.46 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "3.22 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.85 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.41 meters",
+    "closeness rank": 7
+   }
+  },
+  "window": {
+   "trash bin": {
+    "distance": "1.45 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.35 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.41 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "4.52 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "4.82 meters",
+    "closeness rank": 7
+   }
+  },
+  "printer": {
+   "trash bin": {
+    "distance": "2.63 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.0 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.22 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "3.58 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "4.3 meters",
+    "closeness rank": 7
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "2.61 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "4.31 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.52 meters",
+    "closeness rank": 7
+   }
+  },
+  "fan": {
+   "printer": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.83 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.35 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.61 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "3.42 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "1.45 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "2.63 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "1.83 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.43 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.85 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "4.31 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "4.23 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "sofa": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "2.35 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.58 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "3.0 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "4.43 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.35 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.58 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "3.42 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "4.23 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "4.3 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.82 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["sofa", "backpack", "window", "trash bin", "printer", "fan", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0598_02.json b/data/spatial codes/ground truth/explicit/scene0598_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..95dffebe256a64816c801544a60926dc3b50941b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0598_02.json	
@@ -0,0 +1,88 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "3.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "2.93 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {}
+ },
+ "appearance order": ["bookshelf"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0608_00.json b/data/spatial codes/ground truth/explicit/scene0608_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc8864e87eeda9a0951df44a7cee2f1939faf1d9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0608_00.json	
@@ -0,0 +1,727 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "-1.91 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "2.34 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.98 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-1.81 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "2.06 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "1.93 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "1.96 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "guitar": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.19 meters",
+      "y coordinate": "-2.29 meters",
+      "height above floor": "1.89 meters"
+     },
+     "longest dimension": "1.41 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "guitar": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "1.62 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "2.27 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.18 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.9 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.68 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.35 meters",
+    "closeness rank": 10
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "guitar": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.73 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "3.24 meters",
+    "closeness rank": 10
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.63 meters",
+    "closeness rank": 3
+   },
+   "guitar": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.18 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "3.5 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.72 meters",
+    "closeness rank": 10
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "guitar": {
+    "distance": "1.95 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "3.85 meters",
+    "closeness rank": 10
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.34 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "2.76 meters",
+    "closeness rank": 5
+   },
+   "guitar": {
+    "distance": "2.47 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.78 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "3.32 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "3.41 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "3.5 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "plant": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.9 meters",
+    "closeness rank": 6
+   },
+   "guitar": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "3.41 meters",
+    "closeness rank": 10
+   }
+  },
+  "plant": {
+   "chair": {
+    "distance": "1.62 meters",
+    "closeness rank": 1
+   },
+   "guitar": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.62 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.85 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.57 meters",
+    "closeness rank": 10
+   }
+  },
+  "clock": {
+   "plant": {
+    "distance": "1.62 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.27 meters",
+    "closeness rank": 2
+   },
+   "guitar": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.86 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.6 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "3.24 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "3.32 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "3.85 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "5.26 meters",
+    "closeness rank": 10
+   }
+  },
+  "guitar": {
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.95 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.47 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.98 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "sofa": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "1.52 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.35 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.99 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.5 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "3.57 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.78 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.72 meters",
+    "closeness rank": 8
+   },
+   "guitar": {
+    "distance": "3.98 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "5.26 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "guitar": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.26 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.31 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.6 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "2.86 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.99 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["window", "tv", "table", "plant", "guitar", "chair", "sofa", "pillow", "door", "lamp", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0616_01.json b/data/spatial codes/ground truth/explicit/scene0616_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6df365afca941eb247139619c232c0a99813197
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0616_01.json	
@@ -0,0 +1,411 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "1.83 meters"
+     },
+     "longest dimension": "1.43 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "-2.54 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "4.74 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "2.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "door": {
+    "distance": "2.67 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.05 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "radiator": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "2.18 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.53 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.79 meters",
+    "closeness rank": 6
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.62 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.18 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.83 meters",
+    "closeness rank": 6
+   }
+  },
+  "radiator": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.82 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.23 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "2.05 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.64 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.33 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "2.83 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "3.23 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "3.79 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "2.67 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.27 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "3.62 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.82 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "3.53 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.27 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "lamp", "radiator", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0621_00.json b/data/spatial codes/ground truth/explicit/scene0621_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..716a03df8f64a555ce9e4b029606ddf4ea8c8ee3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0621_00.json	
@@ -0,0 +1,375 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 27,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "-2.45 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.0 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "-2.13 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.33 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.95 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.98 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.86 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.77 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.23 meters",
+      "y coordinate": "2.68 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "2.34 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.87 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.46 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.32 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.24 meters",
+      "y coordinate": "-2.8 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.32 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "5.04 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "5.87 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "5.04 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "5.87 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0629_01.json b/data/spatial codes/ground truth/explicit/scene0629_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..297b8ca2fc07eb914a911f66fc9ca88c2a2cf5f6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0629_01.json	
@@ -0,0 +1,292 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.52 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.55 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-2.19 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "1.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.67 meters",
+    "closeness rank": 5
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.05 meters",
+    "closeness rank": 5
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "1.99 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "mirror": {
+    "distance": "1.99 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.67 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.5 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "3.05 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.5 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "plant", "mirror", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0633_00.json b/data/spatial codes/ground truth/explicit/scene0633_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..2941901116d9b3bc679f97fffffcc02f8bcd6ff2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0633_00.json	
@@ -0,0 +1,276 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.49 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "1.86 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   }
+  },
+  "pillow": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "2.72 meters",
+    "closeness rank": 5
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "2.78 meters",
+    "closeness rank": 5
+   }
+  },
+  "clock": {
+   "window": {
+    "distance": "1.94 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.16 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.29 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.72 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.78 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "2.16 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "pillow", "lamp", "clock", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0643_00.json b/data/spatial codes/ground truth/explicit/scene0643_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9d5ea4df35c146a1e7c050654baffcc5b16199c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0643_00.json	
@@ -0,0 +1,656 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.54 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "2.57 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "2.22 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-1.64 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bookshelf": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "2.35 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.56 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "2.4 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.91 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.91 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "3.6 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.0 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.8 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "3.23 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "4.63 meters",
+    "closeness rank": 9
+   }
+  },
+  "bookshelf": {
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.37 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.09 meters",
+    "closeness rank": 9
+   }
+  },
+  "refrigerator": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.9 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.76 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.24 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.9 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "3.6 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "3.17 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.42 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.4 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "3.17 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "3.37 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "2.07 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.27 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.42 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.23 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "2.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.37 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.76 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.37 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.63 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "4.63 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "2.35 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.24 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.27 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "3.63 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.26 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.8 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.51 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["trash bin", "telephone", "table", "refrigerator", "chair", "monitor", "bookshelf", "door", "window", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0645_00.json b/data/spatial codes/ground truth/explicit/scene0645_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec18112f7fa80365dff6943c013b41d5cc3a87d3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0645_00.json	
@@ -0,0 +1,1355 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-2.23 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "2.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.73 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "2.45 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "3.21 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.41 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "2.45 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.41 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "1.66 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.61 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "1.99 meters"
+     },
+     "longest dimension": "1.92 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 14,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "3.35 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.59 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.88 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.33 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.56 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "1.6 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.91 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "-1.58 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "-2.45 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "-2.49 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "-2.67 meters",
+      "height above floor": "1.47 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "-2.85 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "-3.05 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.66 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.37 meters",
+      "y coordinate": "-2.09 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.98 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "2.11 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "-1.94 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "1.95 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "-2.0 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.57 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "2.1 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.96 meters",
+      "y coordinate": "-3.27 meters",
+      "height above floor": "1.79 meters"
+     },
+     "longest dimension": "1.79 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "-2.81 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.14 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.89 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.84 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "-2.13 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "1.47 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "43.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "lamp": {
+    "distance": "3.46 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "2.45 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.17 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.23 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.58 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.62 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "3.1 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "3.52 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.85 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "3.67 meters",
+    "closeness rank": 14
+   }
+  },
+  "chair": {
+   "pillow": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.69 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.52 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.62 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.58 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.42 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.99 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "2.55 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "4.23 meters",
+    "closeness rank": 14
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "2.66 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.96 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.4 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.16 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.85 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.91 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "3.01 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "3.31 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "4.65 meters",
+    "closeness rank": 14
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "4.17 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.69 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "5.65 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "3.36 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "5.11 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "4.45 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "3.01 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "5.58 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "5.49 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "6.76 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "5.15 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "6.61 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "5.36 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "6.22 meters",
+    "closeness rank": 14
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "2.45 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "3.71 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "3.36 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "2.54 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.5 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.11 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "1.75 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.39 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.28 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "3.39 meters",
+    "closeness rank": 14
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "3.46 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "5.22 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.39 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "5.65 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.59 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.77 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "0.96 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.91 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.11 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "2.9 meters",
+    "closeness rank": 14
+   }
+  },
+  "towel": {
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "2.82 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.76 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.39 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.55 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.9 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.31 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "3.39 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "3.62 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "6.61 meters",
+    "closeness rank": 14
+   }
+  },
+  "tv": {
+   "backpack": {
+    "distance": "0.8 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.87 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.91 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.16 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.28 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.35 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "3.2 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "5.49 meters",
+    "closeness rank": 14
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "5.22 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "3.71 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.45 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.59 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.34 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "4.23 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.2 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "4.79 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "3.62 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "5.44 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "5.22 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "4.65 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "5.3 meters",
+    "closeness rank": 14
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "2.66 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.41 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "2.96 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.8 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.77 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.76 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.54 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.59 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "5.58 meters",
+    "closeness rank": 14
+   }
+  },
+  "mirror": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.52 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.96 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.82 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.94 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.75 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.87 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "3.52 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "5.22 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "5.36 meters",
+    "closeness rank": 14
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.13 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.59 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.5 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.35 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.85 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "3.39 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "3.67 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "5.15 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "5.3 meters",
+    "closeness rank": 14
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "2.76 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.76 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.4 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "3.62 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.1 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.39 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "5.44 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "6.22 meters",
+    "closeness rank": 14
+   }
+  },
+  "door": {
+   "towel": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.23 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.42 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.11 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.99 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.11 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "4.34 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.85 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.91 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "6.76 meters",
+    "closeness rank": 14
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "2.41 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.03 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "0.24 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "5.11 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "3.1 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.85 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "4.79 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["pillow", "nightstand", "lamp", "door", "bed", "backpack", "window", "chair", "table", "sofa", "trash bin", "telephone", "mirror", "tv", "towel"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0647_00.json b/data/spatial codes/ground truth/explicit/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff651caeeb2892a00f24d0504dbb5f0491aa0555
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0647_00.json	
@@ -0,0 +1,308 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.31 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.29 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.39 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-2.51 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "1.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "2.82 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.84 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "-2.74 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.91 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.27 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "4.31 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.52 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.9 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "4.13 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.27 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "4.27 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.9 meters",
+    "closeness rank": 5
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.18 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.32 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.27 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "4.18 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.91 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "4.13 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "3.32 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.52 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "4.31 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "4.18 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "3.18 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.15 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "tv", "backpack", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0648_00.json b/data/spatial codes/ground truth/explicit/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7186bc8524dc403553dea6d19328e32f4ba34f5
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0648_00.json	
@@ -0,0 +1,846 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "2.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "2.52 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "1.28 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.17 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.05 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.67 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.3 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.2 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.31 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.15 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.0 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "0.84 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.57 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.0 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "2.11 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.17 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.03 meters",
+    "closeness rank": 11
+   }
+  },
+  "bookshelf": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.9 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.54 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.62 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.79 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.17 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.29 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.12 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "2.7 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.31 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "2.23 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.24 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.62 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.74 meters",
+    "closeness rank": 11
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.15 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.54 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.63 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.67 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.7 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.13 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.11 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.29 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.6 meters",
+    "closeness rank": 11
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.9 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.23 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.13 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.06 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.27 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.82 meters",
+    "closeness rank": 11
+   }
+  },
+  "closet": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.04 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.79 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   }
+  },
+  "fan": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.65 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.04 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.44 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.63 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.27 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.44 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.74 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.67 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "3.03 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "0.11 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.93 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.49 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.49 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["table", "pillow", "lamp", "chair", "bed", "fan", "door", "bookshelf", "window", "plant", "backpack", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0651_02.json b/data/spatial codes/ground truth/explicit/scene0651_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c4cd7067a841e2331516e6a30d1520740980907
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0651_02.json	
@@ -0,0 +1,308 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-3.1 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "-2.28 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.54 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "3.11 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "3.57 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.74 meters",
+    "closeness rank": 5
+   }
+  },
+  "counter": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.09 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.57 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.8 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.11 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.54 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.07 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.74 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.8 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "3.09 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.07 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "counter", "refrigerator", "trash bin", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0653_00.json b/data/spatial codes/ground truth/explicit/scene0653_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..7af45d7e32b0805e357c5277148ed1968f15f7b0
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0653_00.json	
@@ -0,0 +1,665 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "-2.4 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-1.84 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "2.0 meters"
+     },
+     "longest dimension": "2.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "-1.65 meters",
+      "height above floor": "2.19 meters"
+     },
+     "longest dimension": "2.26 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.04 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "-2.18 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "-2.04 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.9 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.85 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "2.46 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "2.71 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "2.02 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.0 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "-2.26 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "2.4 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.5 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.35 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.19 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.03 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.27 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "chair": {
+    "distance": "2.4 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "2.42 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.54 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.86 meters",
+    "closeness rank": 8
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "2.42 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.26 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.18 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.52 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.37 meters",
+    "closeness rank": 8
+   }
+  },
+  "backpack": {
+   "table": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.14 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "2.18 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.94 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "2.52 meters",
+    "closeness rank": 8
+   }
+  },
+  "clock": {
+   "window": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.58 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.45 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "3.5 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.31 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.03 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "3.58 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "3.52 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "3.22 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "3.54 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.35 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.94 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "4.37 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.27 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "4.45 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.88 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.22 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.79 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["table", "monitor", "keyboard", "chair", "backpack", "trash bin", "door", "window", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0658_00.json b/data/spatial codes/ground truth/explicit/scene0658_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce93e6366516469dea46ef36839031c67132beeb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0658_00.json	
@@ -0,0 +1,276 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "2.38 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   }
+  },
+  "lamp": {
+   "window": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.51 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "window", "lamp", "trash bin", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0663_00.json b/data/spatial codes/ground truth/explicit/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..121af89e0ad4e1197274dd1c8b5cfb70a82e2c6e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0663_00.json	
@@ -0,0 +1,569 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "1.95 meters"
+     },
+     "longest dimension": "2.31 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "2.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "1.96 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.62 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.04 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.63 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "2.51 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.09 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.29 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.02 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.25 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "2.95 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.37 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.42 meters",
+    "closeness rank": 8
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "1.71 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.96 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "2.95 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.51 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   }
+  },
+  "backpack": {
+   "telephone": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.37 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.5 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.08 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.42 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.29 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.42 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.02 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.42 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "4.25 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "1.71 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "monitor", "keyboard", "backpack", "telephone", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0664_02.json b/data/spatial codes/ground truth/explicit/scene0664_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a33d260065684cadd13a716904d8b9724967c01
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0664_02.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.41 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.76 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.76 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "counter": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["counter", "towel", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0665_00.json b/data/spatial codes/ground truth/explicit/scene0665_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..837d9dcdd96c1bbcbefd4a6077bc655ff5967f5c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0665_00.json	
@@ -0,0 +1,335 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 18,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.93 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "-2.15 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-2.24 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.06 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.89 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-3.58 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "1.93 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.02 meters",
+      "y coordinate": "-2.2 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "4.06 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.51 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "3.45 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.64 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "1.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.14 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.11 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "1.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "46.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.63 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "2.49 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0671_01.json b/data/spatial codes/ground truth/explicit/scene0671_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..68df86c52fd862b5a7faaa8beafc79a81717efd7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0671_01.json	
@@ -0,0 +1,261 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.39 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "2.17 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "2.49 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   }
+  },
+  "pillow": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.92 meters",
+    "closeness rank": 4
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "2.49 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.92 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "pillow", "plant", "backpack", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0684_01.json b/data/spatial codes/ground truth/explicit/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..898366bb553e18828cdd8cb0ff93bb603b3135d6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0684_01.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "2.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "telephone", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0685_00.json b/data/spatial codes/ground truth/explicit/scene0685_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..08a1ac2f0294208de6bdf6b977b2c0b3ad66c2b1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0685_00.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.47 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "2.45 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "trash bin": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.85 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0686_00.json b/data/spatial codes/ground truth/explicit/scene0686_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c261d10fd1b02fd84d0a7d157209145854cce1e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0686_00.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "mirror": {
+   "trash bin": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["mirror", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0693_00.json b/data/spatial codes/ground truth/explicit/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..a17b98ee12dafbcf39aed348911789e615cd36db
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0693_00.json	
@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "1.59 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.93 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "towel", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0695_00.json b/data/spatial codes/ground truth/explicit/scene0695_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..83adf7213fa975297ad33d329dc37c090df334fd
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0695_00.json	
@@ -0,0 +1,679 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "2.24 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.05 meters",
+      "y coordinate": "-1.3 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.65 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.14 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.24 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.49 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.15 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.21 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.74 meters",
+    "closeness rank": 10
+   }
+  },
+  "window": {
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "2.42 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.9 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.17 meters",
+    "closeness rank": 10
+   }
+  },
+  "bookshelf": {
+   "monitor": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.63 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.77 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.1 meters",
+    "closeness rank": 10
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "2.1 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.01 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.9 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.08 meters",
+    "closeness rank": 10
+   }
+  },
+  "monitor": {
+   "bookshelf": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.96 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.71 meters",
+    "closeness rank": 10
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.01 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.75 meters",
+    "closeness rank": 10
+   }
+  },
+  "backpack": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.63 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.42 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.71 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.49 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.84 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.35 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.71 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "2.71 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "3.08 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.66 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.63 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.75 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.17 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.66 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.26 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.74 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.35 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["lamp", "table", "monitor", "door", "window", "trash bin", "chair", "bookshelf", "backpack", "bed", "pillow"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0696_01.json b/data/spatial codes/ground truth/explicit/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..864bf1765307a214b7a42783b860bcf7ba788d46
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0696_01.json	
@@ -0,0 +1,498 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-1.75 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.92 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "1.38 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-2.62 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "2.8 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "mattress": {
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "3.25 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "3.02 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "4.22 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "pillow": {
+    "distance": "2.71 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.96 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "3.02 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "4.24 meters",
+    "closeness rank": 7
+   }
+  },
+  "pillow": {
+   "chair": {
+    "distance": "2.71 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.86 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "3.25 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "4.2 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "2.12 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.86 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "2.71 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.98 meters",
+    "closeness rank": 7
+   }
+  },
+  "radiator": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.29 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.71 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "4.22 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "5.27 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "mattress": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.4 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.98 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "4.2 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "4.24 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "5.27 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.07 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["mattress", "chair", "sofa", "pillow", "tv", "radiator", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0697_01.json b/data/spatial codes/ground truth/explicit/scene0697_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae621dd5e1691f75e79aedb3c5e96ae2ecd1306
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0697_01.json	
@@ -0,0 +1,529 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "2.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "2.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "2.5 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "1.88 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.36 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "lamp": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "0.47 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.6 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "3.72 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.83 meters",
+    "closeness rank": 8
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "2.3 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.62 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "2.8 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.57 meters",
+    "closeness rank": 8
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.59 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.85 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "2.92 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.06 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "2.41 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.59 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "2.75 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.96 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.48 meters",
+    "closeness rank": 8
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "2.13 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.6 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "2.79 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.75 meters",
+    "closeness rank": 8
+   }
+  },
+  "closet": {
+   "nightstand": {
+    "distance": "2.13 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.3 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.48 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.83 meters",
+    "closeness rank": 8
+   }
+  },
+  "mirror": {
+   "bed": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "2.79 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.8 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.41 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.72 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash bin": {
+   "bed": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "2.6 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.62 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.85 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.96 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.6 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["pillow", "nightstand", "closet", "bed", "window", "lamp", "tv", "trash bin", "mirror"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0699_00.json b/data/spatial codes/ground truth/explicit/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b0a6c8f45351e378611526cd897f9d4af0f1aa5
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0699_00.json	
@@ -0,0 +1,521 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.65 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-2.55 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "-1.3 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "1.43 meters"
+     },
+     "longest dimension": "1.84 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.84 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-1.87 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "2.24 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "3.34 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.92 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "3.12 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.34 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.4 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.58 meters",
+    "closeness rank": 8
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.11 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.44 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.98 meters",
+    "closeness rank": 8
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "2.41 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.61 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "1.75 meters",
+    "closeness rank": 8
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "2.41 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.24 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.6 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "3.39 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "3.58 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "3.98 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "bed": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.61 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.85 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.0 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.11 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "3.12 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.97 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.44 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "2.6 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["pillow", "nightstand", "bed", "door", "table", "chair", "backpack", "closet", "window"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0700_02.json b/data/spatial codes/ground truth/explicit/scene0700_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..0edb17032f3a07962085b7cf110606bae5ee3af2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0700_02.json	
@@ -0,0 +1,624 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "2.53 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.14 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.61 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "2.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.17 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "radiator": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "3.06 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.93 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.41 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.5 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.75 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.38 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.07 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.86 meters",
+    "closeness rank": 9
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.74 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.32 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.68 meters",
+    "closeness rank": 9
+   }
+  },
+  "radiator": {
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.38 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.8 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.68 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "monitor": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.84 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.32 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.78 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.74 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "1.74 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.07 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.5 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.78 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.8 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.06 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.17 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "2.68 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.75 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "2.86 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "3.74 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "4.68 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "4.93 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.37 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.79 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.97 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "monitor", "keyboard", "backpack", "radiator", "telephone", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0701_00.json b/data/spatial codes/ground truth/explicit/scene0701_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b6a24552d4ebdf08254761fbb3619af0757928
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0701_00.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "3.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "backpack", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0702_02.json b/data/spatial codes/ground truth/explicit/scene0702_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..946a04e42277f5c1e036e20fad433097fdbc6748
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0702_02.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "2.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "telephone": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["telephone", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0704_01.json b/data/spatial codes/ground truth/explicit/scene0704_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..93cb55a046d22a61d12298ff70f06163a9a03761
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0704_01.json	
@@ -0,0 +1,206 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "2.78 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   }
+  },
+  "printer": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "2.49 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["counter", "printer", "trash bin", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/09c1414f1b.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/09c1414f1b.json
new file mode 100644
index 0000000000000000000000000000000000000000..33fa910a3c7498809997bb2433b41c19f1ec2495
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/09c1414f1b.json	
@@ -0,0 +1,2672 @@
+{
+ "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": {
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.16,
+      -2.83,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      1.06,
+      0.28
+     ],
+     "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": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.08,
+      -4.01,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.3,
+      0.19
+     ],
+     "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": 2.33
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.53,
+      0.02,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.53,
+      1.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.25,
+      -6.0,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.22,
+      1.2
+     ],
+     "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": 1.33
+   }
+  ],
+  "bowl": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.31,
+      -0.35,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.02,
+      0.08
+     ],
+     "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": 4.67
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.01,
+      0.77,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.5,
+      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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      -2.87,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.23,
+      0.17
+     ],
+     "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": 2.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.76,
+      -0.66,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.35,
+      0.59,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.74,
+       0.0
+      ],
+      [
+       -0.74,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.51,
+      1.19,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.29,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.46,
+      0.5,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.46,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.21,
+       0.0
+      ],
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.94,
+      1.35,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.28,
+      0.3
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.95,
+      0.83,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.42,
+      0.26,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      1.71,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.06,
+      0.09
+     ],
+     "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": 3.5
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.03,
+      -3.46,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.27,
+      0.7,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.55,
+       0.0
+      ],
+      [
+       -0.55,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.9,
+      -2.22,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.2,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.1,
+      -3.59,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.29,
+      0.27
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.11,
+      -4.01,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.29,
+      0.21
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.51,
+      -2.98,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.29,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.67,
+      -3.92,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      1.45,
+      0.14,
+      0.34
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.7,
+      -3.44,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.38,
+      0.15
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.72,
+      -3.92,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.18,
+      0.3
+     ],
+     "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": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.95,
+      -3.98,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.08,
+      0.32
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.43,
+      -2.23,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.36,
+      0.17
+     ],
+     "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": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.07,
+      -3.34,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.16,
+      0.47
+     ],
+     "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": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.42,
+      -3.62,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.32,
+      0.04
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.3,
+      -4.03,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.21,
+      0.34
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.86,
+      -3.59,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.52,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.42,
+      0.54,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.24,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.71,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       -0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.79,
+      1.15,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.42,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      1.87,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.05,
+      0.29
+     ],
+     "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": 3.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.59,
+      0.32,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.05,
+      1.02
+     ],
+     "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": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.58,
+      0.32,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.04,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.51,
+      1.31,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.02,
+      0.73
+     ],
+     "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": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      0.57,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.06,
+      0.67
+     ],
+     "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": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      1.04,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.02,
+      0.55
+     ],
+     "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": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.06,
+      1.29,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.01,
+      0.71
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.83,
+      -0.22,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.01,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.71,
+      -0.31,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.01,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.82,
+      -0.58,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.01,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.6,
+      -0.92,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.14,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.47,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      1.65,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.09,
+      0.2
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      1.66,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.1,
+      0.18
+     ],
+     "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": 3.5
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      0.92,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.14,
+      0.23
+     ],
+     "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": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.72,
+      -0.27,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.03,
+      0.15
+     ],
+     "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": 4.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.9,
+      -2.22,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.2,
+      0.27
+     ],
+     "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": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.1,
+      -4.02,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.28,
+      0.2
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.72,
+      -3.92,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.16,
+      0.3
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.14,
+      -3.6,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.26,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.07,
+      -3.39,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.53,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.86,
+      -3.58,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.42,
+      0.18
+     ],
+     "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": 1.83
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.95,
+      1.39,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.36,
+      0.51,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.79,
+      2.12,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.04,
+      0.43
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.92,
+      2.12,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.02,
+      0.44
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.63,
+      -4.37,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.09,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.16,
+      1.01,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.04,
+      0.03
+     ],
+     "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": 4.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.62,
+      0.32,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.18,
+      1.53
+     ],
+     "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": 3.5
+   }
+  ],
+  "shoes": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.87,
+      0.77,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.09,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.62,
+      0.34,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.12,
+      0.04
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.79,
+      0.8,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.14,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      0.26,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.04,
+      0.07
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      0.15,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.02,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.78,
+      -0.01,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.05,
+      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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.78,
+      0.12,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.07,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      0.05,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.01,
+      0.09
+     ],
+     "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": 0.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.0,
+      -3.46,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      2.62,
+      1.83,
+      0.67
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.21,
+      -1.72,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.16,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "suitcase": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.08,
+      0.37,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.34,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.93,
+      0.65,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      0.69,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.34,
+       0.0
+      ],
+      [
+       -0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.3,
+      -2.5,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      0.54,
+      0.34
+     ],
+     "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": 1.33
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      1.42,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.13,
+      0.41
+     ],
+     "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": 3.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.57,
+      -2.53,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.05,
+      0.65
+     ],
+     "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": 1.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.45,
+      -4.57
+     ],
+     [
+      1.05,
+      -4.57
+     ],
+     [
+      1.15,
+      -4.67
+     ],
+     [
+      1.15,
+      -4.97
+     ],
+     [
+      1.05,
+      -5.07
+     ],
+     [
+      0.95,
+      -5.07
+     ],
+     [
+      0.95,
+      -5.27
+     ],
+     [
+      0.85,
+      -5.37
+     ],
+     [
+      0.85,
+      -5.57
+     ],
+     [
+      0.75,
+      -5.67
+     ],
+     [
+      0.75,
+      -6.17
+     ],
+     [
+      0.85,
+      -6.27
+     ],
+     [
+      0.85,
+      -6.67
+     ],
+     [
+      1.45,
+      -6.67
+     ],
+     [
+      1.45,
+      -6.57
+     ],
+     [
+      1.55,
+      -6.47
+     ],
+     [
+      1.95,
+      -6.47
+     ],
+     [
+      2.05,
+      -6.37
+     ],
+     [
+      2.05,
+      -5.87
+     ],
+     [
+      1.95,
+      -5.77
+     ],
+     [
+      1.95,
+      -5.57
+     ],
+     [
+      2.05,
+      -5.47
+     ],
+     [
+      2.05,
+      -5.17
+     ],
+     [
+      2.15,
+      -5.07
+     ],
+     [
+      2.65,
+      -5.07
+     ],
+     [
+      2.65,
+      -4.77
+     ],
+     [
+      2.75,
+      -4.67
+     ],
+     [
+      3.35,
+      -4.67
+     ],
+     [
+      3.45,
+      -4.77
+     ],
+     [
+      3.85,
+      -4.77
+     ],
+     [
+      3.95,
+      -4.67
+     ],
+     [
+      4.35,
+      -4.67
+     ],
+     [
+      4.45,
+      -4.57
+     ],
+     [
+      5.95,
+      -4.57
+     ],
+     [
+      5.95,
+      2.23
+     ],
+     [
+      2.55,
+      2.23
+     ],
+     [
+      2.55,
+      2.13
+     ],
+     [
+      2.45,
+      2.03
+     ],
+     [
+      2.45,
+      1.93
+     ],
+     [
+      2.35,
+      1.83
+     ],
+     [
+      2.35,
+      1.63
+     ],
+     [
+      2.25,
+      1.53
+     ],
+     [
+      2.25,
+      1.43
+     ],
+     [
+      2.15,
+      1.33
+     ],
+     [
+      2.15,
+      1.13
+     ],
+     [
+      2.05,
+      1.03
+     ],
+     [
+      1.75,
+      1.03
+     ],
+     [
+      1.65,
+      1.13
+     ],
+     [
+      1.65,
+      1.23
+     ],
+     [
+      1.55,
+      1.33
+     ],
+     [
+      1.55,
+      2.03
+     ],
+     [
+      0.45,
+      2.03
+     ],
+     [
+      0.35,
+      2.13
+     ],
+     [
+      0.35,
+      2.23
+     ],
+     [
+      -1.25,
+      2.23
+     ],
+     [
+      -1.25,
+      2.13
+     ],
+     [
+      -1.35,
+      2.03
+     ],
+     [
+      -1.45,
+      2.03
+     ],
+     [
+      -1.45,
+      -0.27
+     ],
+     [
+      -1.15,
+      -0.27
+     ],
+     [
+      -1.05,
+      -0.37
+     ],
+     [
+      -1.05,
+      -0.57
+     ],
+     [
+      -1.15,
+      -0.67
+     ],
+     [
+      -1.45,
+      -0.67
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/0d2ee665be.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/0d2ee665be.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8278c0f72dfafa3c65fdf618013f29169dbc622
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/0d2ee665be.json	
@@ -0,0 +1,1702 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      0.32,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.14,
+      0.38
+     ],
+     "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": 0.5
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.14,
+      -1.94,
+      2.17
+     ],
+     "3D oriented bounding box dimensions": [
+      1.29,
+      0.21,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      -0.85,
+      -0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.74,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "bowl": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.53,
+      0.72,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.04,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      -1.38,
+      1.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.08,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.62,
+       0.0
+      ],
+      [
+       -0.62,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      -1.94,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.5,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      -2.37,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.73,
+      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": 0.5
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      -1.44,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.02,
+      0.1
+     ],
+     "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": 1.33
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.53,
+      0.6,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.08,
+      0.08
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.5,
+      0.83,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.04,
+      0.05
+     ],
+     "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": 2.17
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      -1.91,
+      2.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.17,
+      0.36
+     ],
+     "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": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.07,
+      -2.24,
+      2.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.05,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.24,
+      -2.13,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.04,
+      0.51
+     ],
+     "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": 0.67
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      0.7,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.19,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      -2.71,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.75,
+      0.07,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.91,
+      -0.04,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.58,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.28,
+       0.0
+      ],
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.23,
+      0.54,
+      1.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.01,
+      0.42
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      -2.7,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      2.08,
+      0.05,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.8,
+      0.46,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.02,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.66,
+      3.36,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      0.05,
+      0.87
+     ],
+     "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": 0.17
+   }
+  ],
+  "headphones": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      -0.87,
+      -0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.03,
+      0.21
+     ],
+     "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": 4.5
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      0.8,
+      1.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.09,
+      0.13
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.38,
+      0.8,
+      1.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.12,
+      0.22
+     ],
+     "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": 1.83
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      -1.8,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.02,
+      0.16
+     ],
+     "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": 1.17
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      -1.33,
+      -0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.28,
+      0.25
+     ],
+     "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": 1.33
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      0.56,
+      1.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.01,
+      0.59
+     ],
+     "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": 2.83
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.73,
+      -1.9,
+      -0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.19,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.84,
+      -1.34,
+      -0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.2,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      0.46,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.24,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      -1.91,
+      2.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.18,
+      0.36
+     ],
+     "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": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.07,
+      -2.24,
+      2.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.05,
+      0.67
+     ],
+     "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": 0.67
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      -2.8,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.03,
+      0.77
+     ],
+     "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": 3.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      -0.05,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.54,
+      0.03
+     ],
+     "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": 4.33
+   }
+  ],
+  "shoes": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      1.87,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.08,
+      0.06
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      1.95,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.07,
+      0.04
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      2.2,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.06,
+      0.06
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      2.32,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.07,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      2.12,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.07,
+      0.04
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      2.03,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.05,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.18,
+      -1.56,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      0.56,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "table lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.83,
+      -2.3,
+      -0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.34,
+      0.16
+     ],
+     "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": 3.5
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.46,
+      -0.74,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.21,
+      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": 1.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      -1.9,
+      -0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.18,
+      0.04
+     ],
+     "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": 1.0
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      3.28,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      0.03,
+      0.71
+     ],
+     "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": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.08,
+      2.43,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.26,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.42,
+       0.0
+      ],
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.08,
+      -2.57
+     ],
+     [
+      -0.98,
+      -2.57
+     ],
+     [
+      -0.88,
+      -2.67
+     ],
+     [
+      -0.88,
+      -2.97
+     ],
+     [
+      1.82,
+      -2.97
+     ],
+     [
+      1.82,
+      0.33
+     ],
+     [
+      1.72,
+      0.33
+     ],
+     [
+      1.62,
+      0.43
+     ],
+     [
+      1.62,
+      1.23
+     ],
+     [
+      1.52,
+      1.33
+     ],
+     [
+      1.52,
+      2.03
+     ],
+     [
+      1.42,
+      2.13
+     ],
+     [
+      1.42,
+      2.73
+     ],
+     [
+      1.32,
+      2.83
+     ],
+     [
+      1.32,
+      3.53
+     ],
+     [
+      -0.78,
+      3.53
+     ],
+     [
+      -0.78,
+      3.43
+     ],
+     [
+      -0.88,
+      3.33
+     ],
+     [
+      -1.08,
+      3.33
+     ],
+     [
+      -1.08,
+      1.73
+     ],
+     [
+      -0.68,
+      1.73
+     ],
+     [
+      -0.58,
+      1.63
+     ],
+     [
+      -0.58,
+      1.13
+     ],
+     [
+      -0.68,
+      1.03
+     ],
+     [
+      -0.68,
+      0.93
+     ],
+     [
+      -0.78,
+      0.83
+     ],
+     [
+      -1.08,
+      0.83
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/13c3e046d7.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/13c3e046d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..167af1e2dc0056eecce68bc8d86e48dfe50195a5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/13c3e046d7.json	
@@ -0,0 +1,724 @@
+{
+ "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": [
+      -1.89,
+      -0.61,
+      -0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      0.07,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.91,
+      0.17,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      2.45,
+      0.09,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.16,
+      2.66,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      1.23,
+      2.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      -0.45,
+      1.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.71,
+      0.78,
+      0.45
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      0.2,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      1.69,
+      0.46,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.32,
+       0.0
+      ],
+      [
+       -0.32,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.21,
+      -0.48,
+      1.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.53,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      2.34,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.63,
+      1.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.41,
+      -0.21,
+      -1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      2.92,
+      1.22,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.43,
+      1.7
+     ],
+     [
+      -3.33,
+      1.7
+     ],
+     [
+      -3.23,
+      1.6
+     ],
+     [
+      -3.23,
+      1.4
+     ],
+     [
+      -3.13,
+      1.3
+     ],
+     [
+      -3.13,
+      1.1
+     ],
+     [
+      -3.03,
+      1.0
+     ],
+     [
+      -3.03,
+      0.8
+     ],
+     [
+      -2.83,
+      0.6
+     ],
+     [
+      -2.83,
+      0.4
+     ],
+     [
+      -2.73,
+      0.3
+     ],
+     [
+      -2.73,
+      0.1
+     ],
+     [
+      -2.63,
+      0.0
+     ],
+     [
+      -2.63,
+      -0.2
+     ],
+     [
+      -2.53,
+      -0.3
+     ],
+     [
+      -2.53,
+      -0.4
+     ],
+     [
+      -2.43,
+      -0.5
+     ],
+     [
+      -2.43,
+      -0.6
+     ],
+     [
+      -2.33,
+      -0.7
+     ],
+     [
+      -2.33,
+      -0.9
+     ],
+     [
+      -2.23,
+      -1.0
+     ],
+     [
+      -2.23,
+      -1.2
+     ],
+     [
+      -2.13,
+      -1.3
+     ],
+     [
+      -2.13,
+      -1.4
+     ],
+     [
+      -2.03,
+      -1.5
+     ],
+     [
+      -2.03,
+      -1.7
+     ],
+     [
+      -1.93,
+      -1.8
+     ],
+     [
+      -1.93,
+      -1.9
+     ],
+     [
+      -1.73,
+      -2.1
+     ],
+     [
+      -1.73,
+      -2.2
+     ],
+     [
+      -1.63,
+      -2.2
+     ],
+     [
+      -1.53,
+      -2.3
+     ],
+     [
+      -1.53,
+      -2.4
+     ],
+     [
+      0.17,
+      -2.4
+     ],
+     [
+      0.17,
+      -2.3
+     ],
+     [
+      0.27,
+      -2.2
+     ],
+     [
+      0.37,
+      -2.2
+     ],
+     [
+      0.47,
+      -2.1
+     ],
+     [
+      0.57,
+      -2.1
+     ],
+     [
+      0.67,
+      -2.0
+     ],
+     [
+      0.77,
+      -2.0
+     ],
+     [
+      1.07,
+      -1.7
+     ],
+     [
+      1.37,
+      -1.7
+     ],
+     [
+      1.37,
+      0.2
+     ],
+     [
+      1.27,
+      0.2
+     ],
+     [
+      1.17,
+      0.3
+     ],
+     [
+      1.17,
+      0.5
+     ],
+     [
+      1.07,
+      0.6
+     ],
+     [
+      1.07,
+      0.7
+     ],
+     [
+      0.97,
+      0.8
+     ],
+     [
+      0.97,
+      0.9
+     ],
+     [
+      0.77,
+      1.1
+     ],
+     [
+      0.77,
+      1.2
+     ],
+     [
+      0.67,
+      1.3
+     ],
+     [
+      0.67,
+      1.4
+     ],
+     [
+      0.57,
+      1.5
+     ],
+     [
+      0.57,
+      1.6
+     ],
+     [
+      0.47,
+      1.7
+     ],
+     [
+      0.47,
+      1.8
+     ],
+     [
+      0.37,
+      1.9
+     ],
+     [
+      0.37,
+      2.0
+     ],
+     [
+      0.27,
+      2.1
+     ],
+     [
+      0.27,
+      2.2
+     ],
+     [
+      0.17,
+      2.3
+     ],
+     [
+      0.17,
+      2.4
+     ],
+     [
+      0.07,
+      2.5
+     ],
+     [
+      0.07,
+      2.7
+     ],
+     [
+      -0.03,
+      2.8
+     ],
+     [
+      -0.03,
+      2.9
+     ],
+     [
+      -0.13,
+      3.0
+     ],
+     [
+      -0.53,
+      3.0
+     ],
+     [
+      -0.63,
+      3.1
+     ],
+     [
+      -0.63,
+      3.2
+     ],
+     [
+      -0.73,
+      3.3
+     ],
+     [
+      -0.73,
+      3.9
+     ],
+     [
+      -0.83,
+      4.0
+     ],
+     [
+      -0.83,
+      4.1
+     ],
+     [
+      -1.63,
+      4.1
+     ],
+     [
+      -1.63,
+      4.0
+     ],
+     [
+      -1.73,
+      3.9
+     ],
+     [
+      -1.93,
+      3.9
+     ],
+     [
+      -2.03,
+      4.0
+     ],
+     [
+      -2.03,
+      4.1
+     ],
+     [
+      -2.63,
+      4.1
+     ],
+     [
+      -2.63,
+      4.0
+     ],
+     [
+      -2.73,
+      3.9
+     ],
+     [
+      -3.03,
+      3.9
+     ],
+     [
+      -3.13,
+      3.8
+     ],
+     [
+      -3.43,
+      3.8
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/1ada7a0617.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/1ada7a0617.json
new file mode 100644
index 0000000000000000000000000000000000000000..3150f02cc3b8f1ad012b9bd976fad724d43a2faa
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/1ada7a0617.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": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.66,
+      -1.43,
+      -1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.93,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.28,
+      -1.41,
+      -1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      0.09,
+      0.25
+     ],
+     "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": 0.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      0.29,
+      -3.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.12,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.16,
+      0.42,
+      -3.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.07,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.08,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      0.69,
+      -1.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.38,
+      0.33
+     ],
+     "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": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.35,
+      0.44,
+      -1.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.28,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.55,
+       0.0
+      ],
+      [
+       -0.55,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "coat rack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.18,
+      -0.51,
+      -0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.18,
+      0.48
+     ],
+     "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": 4.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.91,
+      0.43,
+      -3.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.05,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      0.38,
+      -2.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.04,
+      0.04
+     ],
+     "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": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      0.4,
+      -2.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.05,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.7,
+      0.42,
+      -2.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.03,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.69,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       -0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.71,
+      0.38,
+      -2.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.08,
+      0.02
+     ],
+     "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": 4.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      0.11,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      2.01,
+      0.93,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.37,
+      0.14,
+      -0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.91,
+      0.4,
+      0.07
+     ],
+     "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": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.79,
+      0.14,
+      -0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.92,
+      0.4,
+      0.05
+     ],
+     "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": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.27,
+      -0.04,
+      -0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      0.42,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      -0.32,
+      -0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.92,
+      0.44
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.38,
+      -1.45,
+      -2.92
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.11,
+      0.18
+     ],
+     "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": 3.17
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      0.44,
+      -2.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.02,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      0.33,
+      -3.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.13,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      0.11,
+      -2.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.19,
+      0.43
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.52,
+      0.18,
+      -3.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.27,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      0.38,
+      -4.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.18,
+      0.03
+     ],
+     "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": 0.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.57,
+      0.45,
+      -3.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.02,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      0.37,
+      -3.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.06,
+      0.16
+     ],
+     "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": 0.17
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      0.86,
+      -1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.2,
+      0.25
+     ],
+     "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": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.22,
+      0.82,
+      -1.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.11,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      0.11,
+      -2.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.19,
+      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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      0.1,
+      -2.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.67,
+      0.06
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.57,
+      0.05,
+      -3.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.09,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.17,
+      -0.28,
+      -1.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.65,
+      1.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      0.06,
+      -2.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.27,
+      0.99
+     ],
+     "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": 4.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.44,
+      -1.94
+     ],
+     [
+      3.16,
+      -1.94
+     ],
+     [
+      3.16,
+      1.26
+     ],
+     [
+      -0.44,
+      1.26
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/21d970d8de.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/21d970d8de.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ad645fe8b583e35d7d18b23479598a45e8be3d2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/21d970d8de.json	
@@ -0,0 +1,1686 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.07,
+      0.14,
+      2.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.3,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.77,
+      -2.13,
+      2.2
+     ],
+     "3D oriented bounding box dimensions": [
+      2.64,
+      0.34,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      1.31,
+      2.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.25,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.4,
+       0.0
+      ],
+      [
+       -0.4,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.37,
+      -0.79,
+      2.23
+     ],
+     "3D oriented bounding box dimensions": [
+      1.8,
+      0.22,
+      0.05
+     ],
+     "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": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.41,
+      1.71,
+      2.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.27,
+      0.01
+     ],
+     "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": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      -1.35,
+      2.22
+     ],
+     "3D oriented bounding box dimensions": [
+      1.36,
+      0.23,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       -0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.1,
+      2.46,
+      2.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      0.28,
+      0.01
+     ],
+     "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": 4.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.11,
+      -1.19,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.23,
+      0.83
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.66,
+      -3.25,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      2.86,
+      0.23,
+      0.4
+     ],
+     "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": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.54,
+      -4.68,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.21,
+      0.47
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.58,
+      -3.79,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.36,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.45,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.8,
+      -4.35,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.07,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.95,
+      -4.24,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.22,
+      0.19
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.51,
+      -3.25,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.15,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.58,
+      2.38,
+      1.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.02,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.33,
+       0.0
+      ],
+      [
+       -0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.42,
+      1.46,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.09,
+      2.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.39,
+       0.0
+      ],
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.77,
+      -2.13,
+      2.2
+     ],
+     "3D oriented bounding box dimensions": [
+      2.64,
+      0.34,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.02,
+      -0.82,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      2.06,
+      0.07
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.79,
+      -2.31,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      0.46,
+      0.19
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.4,
+      0.69,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      1.14,
+      0.02
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.57,
+      -4.39,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.01,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.15,
+      -2.69,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.46,
+      0.05
+     ],
+     "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": 1.5
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.15,
+      -5.31,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.19,
+      0.1
+     ],
+     "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": 0.33
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.49,
+      0.37,
+      -0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.26,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.27,
+      -1.01,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.03,
+      0.66
+     ],
+     "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": 1.17
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.09,
+      1.6,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      1.85,
+      0.73,
+      1.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.74,
+       0.0
+      ],
+      [
+       -0.74,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      -4.31,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      1.83,
+      0.09,
+      1.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.67,
+      -4.22,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.07,
+      1.62
+     ],
+     "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": 1.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.07,
+      -1.33
+     ],
+     [
+      -2.67,
+      -1.33
+     ],
+     [
+      -2.57,
+      -1.43
+     ],
+     [
+      -2.57,
+      -1.53
+     ],
+     [
+      -2.47,
+      -1.63
+     ],
+     [
+      -2.47,
+      -1.73
+     ],
+     [
+      -2.37,
+      -1.83
+     ],
+     [
+      -2.37,
+      -2.03
+     ],
+     [
+      -2.27,
+      -2.13
+     ],
+     [
+      -2.27,
+      -2.23
+     ],
+     [
+      -2.17,
+      -2.33
+     ],
+     [
+      -2.17,
+      -2.43
+     ],
+     [
+      -2.07,
+      -2.53
+     ],
+     [
+      -2.07,
+      -2.63
+     ],
+     [
+      -1.97,
+      -2.73
+     ],
+     [
+      -1.97,
+      -2.83
+     ],
+     [
+      -1.87,
+      -2.93
+     ],
+     [
+      -1.87,
+      -3.03
+     ],
+     [
+      -1.77,
+      -3.13
+     ],
+     [
+      -1.77,
+      -3.33
+     ],
+     [
+      -1.67,
+      -3.43
+     ],
+     [
+      -1.67,
+      -3.53
+     ],
+     [
+      -1.57,
+      -3.63
+     ],
+     [
+      -1.57,
+      -3.73
+     ],
+     [
+      -1.47,
+      -3.83
+     ],
+     [
+      -1.47,
+      -3.93
+     ],
+     [
+      -1.37,
+      -4.03
+     ],
+     [
+      -1.37,
+      -4.13
+     ],
+     [
+      -1.27,
+      -4.23
+     ],
+     [
+      -1.27,
+      -4.43
+     ],
+     [
+      -1.17,
+      -4.53
+     ],
+     [
+      -1.17,
+      -4.63
+     ],
+     [
+      -1.07,
+      -4.73
+     ],
+     [
+      -1.07,
+      -4.83
+     ],
+     [
+      -0.97,
+      -4.93
+     ],
+     [
+      -0.97,
+      -5.13
+     ],
+     [
+      -0.87,
+      -5.23
+     ],
+     [
+      -0.87,
+      -5.33
+     ],
+     [
+      -0.77,
+      -5.33
+     ],
+     [
+      -0.47,
+      -5.63
+     ],
+     [
+      -0.47,
+      -5.73
+     ],
+     [
+      1.53,
+      -5.73
+     ],
+     [
+      1.53,
+      -5.63
+     ],
+     [
+      1.63,
+      -5.53
+     ],
+     [
+      1.73,
+      -5.53
+     ],
+     [
+      1.83,
+      -5.43
+     ],
+     [
+      2.03,
+      -5.43
+     ],
+     [
+      2.13,
+      -5.33
+     ],
+     [
+      2.43,
+      -5.33
+     ],
+     [
+      2.53,
+      -5.23
+     ],
+     [
+      2.73,
+      -5.23
+     ],
+     [
+      2.83,
+      -5.13
+     ],
+     [
+      2.93,
+      -5.13
+     ],
+     [
+      3.03,
+      -5.03
+     ],
+     [
+      3.13,
+      -5.03
+     ],
+     [
+      3.33,
+      -4.83
+     ],
+     [
+      3.43,
+      -4.83
+     ],
+     [
+      3.53,
+      -4.73
+     ],
+     [
+      3.73,
+      -4.73
+     ],
+     [
+      3.83,
+      -4.63
+     ],
+     [
+      3.93,
+      -4.63
+     ],
+     [
+      4.03,
+      -4.53
+     ],
+     [
+      4.23,
+      -4.53
+     ],
+     [
+      4.43,
+      -4.33
+     ],
+     [
+      4.73,
+      -4.33
+     ],
+     [
+      4.83,
+      -4.23
+     ],
+     [
+      4.93,
+      -4.23
+     ],
+     [
+      5.03,
+      -4.13
+     ],
+     [
+      5.23,
+      -4.13
+     ],
+     [
+      5.33,
+      -4.03
+     ],
+     [
+      5.43,
+      -4.03
+     ],
+     [
+      5.53,
+      -3.93
+     ],
+     [
+      5.63,
+      -3.93
+     ],
+     [
+      5.73,
+      -3.83
+     ],
+     [
+      5.83,
+      -3.83
+     ],
+     [
+      5.93,
+      -3.73
+     ],
+     [
+      6.13,
+      -3.73
+     ],
+     [
+      6.13,
+      -1.13
+     ],
+     [
+      6.03,
+      -1.13
+     ],
+     [
+      5.83,
+      -0.93
+     ],
+     [
+      5.83,
+      -0.83
+     ],
+     [
+      5.73,
+      -0.73
+     ],
+     [
+      5.73,
+      -0.63
+     ],
+     [
+      5.63,
+      -0.53
+     ],
+     [
+      5.63,
+      -0.33
+     ],
+     [
+      5.53,
+      -0.23
+     ],
+     [
+      5.53,
+      -0.13
+     ],
+     [
+      5.43,
+      -0.03
+     ],
+     [
+      5.43,
+      0.07
+     ],
+     [
+      5.33,
+      0.17
+     ],
+     [
+      5.33,
+      0.27
+     ],
+     [
+      5.13,
+      0.47
+     ],
+     [
+      5.13,
+      0.57
+     ],
+     [
+      5.03,
+      0.67
+     ],
+     [
+      5.03,
+      0.97
+     ],
+     [
+      4.83,
+      1.17
+     ],
+     [
+      4.83,
+      1.47
+     ],
+     [
+      4.63,
+      1.67
+     ],
+     [
+      4.63,
+      1.87
+     ],
+     [
+      4.53,
+      1.97
+     ],
+     [
+      4.53,
+      2.07
+     ],
+     [
+      4.43,
+      2.17
+     ],
+     [
+      4.43,
+      2.27
+     ],
+     [
+      4.33,
+      2.37
+     ],
+     [
+      4.33,
+      2.47
+     ],
+     [
+      4.23,
+      2.57
+     ],
+     [
+      4.23,
+      2.77
+     ],
+     [
+      4.13,
+      2.87
+     ],
+     [
+      4.13,
+      2.97
+     ],
+     [
+      4.03,
+      3.07
+     ],
+     [
+      4.03,
+      3.17
+     ],
+     [
+      3.93,
+      3.27
+     ],
+     [
+      3.93,
+      3.37
+     ],
+     [
+      3.83,
+      3.47
+     ],
+     [
+      3.83,
+      3.77
+     ],
+     [
+      2.73,
+      3.77
+     ],
+     [
+      2.73,
+      3.67
+     ],
+     [
+      2.63,
+      3.57
+     ],
+     [
+      2.43,
+      3.57
+     ],
+     [
+      2.33,
+      3.47
+     ],
+     [
+      2.13,
+      3.47
+     ],
+     [
+      2.03,
+      3.37
+     ],
+     [
+      1.93,
+      3.37
+     ],
+     [
+      1.83,
+      3.27
+     ],
+     [
+      1.63,
+      3.27
+     ],
+     [
+      1.53,
+      3.17
+     ],
+     [
+      1.43,
+      3.17
+     ],
+     [
+      1.33,
+      3.07
+     ],
+     [
+      1.13,
+      3.07
+     ],
+     [
+      1.03,
+      2.97
+     ],
+     [
+      0.93,
+      2.97
+     ],
+     [
+      0.83,
+      2.87
+     ],
+     [
+      0.73,
+      2.87
+     ],
+     [
+      0.63,
+      2.77
+     ],
+     [
+      0.53,
+      2.77
+     ],
+     [
+      0.33,
+      2.57
+     ],
+     [
+      0.23,
+      2.57
+     ],
+     [
+      0.13,
+      2.47
+     ],
+     [
+      0.03,
+      2.47
+     ],
+     [
+      -0.07,
+      2.37
+     ],
+     [
+      -0.27,
+      2.37
+     ],
+     [
+      -0.37,
+      2.27
+     ],
+     [
+      -0.47,
+      2.27
+     ],
+     [
+      -0.57,
+      2.17
+     ],
+     [
+      -0.77,
+      2.17
+     ],
+     [
+      -0.87,
+      2.07
+     ],
+     [
+      -1.07,
+      2.07
+     ],
+     [
+      -1.17,
+      1.97
+     ],
+     [
+      -1.27,
+      1.97
+     ],
+     [
+      -1.37,
+      1.87
+     ],
+     [
+      -1.47,
+      1.87
+     ],
+     [
+      -1.57,
+      1.77
+     ],
+     [
+      -1.77,
+      1.77
+     ],
+     [
+      -1.87,
+      1.67
+     ],
+     [
+      -1.97,
+      1.67
+     ],
+     [
+      -2.07,
+      1.57
+     ],
+     [
+      -2.17,
+      1.57
+     ],
+     [
+      -2.17,
+      1.47
+     ],
+     [
+      -2.27,
+      1.37
+     ],
+     [
+      -2.37,
+      1.37
+     ],
+     [
+      -2.37,
+      1.17
+     ],
+     [
+      -2.47,
+      1.07
+     ],
+     [
+      -2.67,
+      1.07
+     ],
+     [
+      -2.77,
+      0.97
+     ],
+     [
+      -2.87,
+      0.97
+     ],
+     [
+      -2.97,
+      0.87
+     ],
+     [
+      -3.07,
+      0.87
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/25f3b7a318.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/25f3b7a318.json
new file mode 100644
index 0000000000000000000000000000000000000000..62ff4376b7f9de357a21d8861aa6c82283445991
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/25f3b7a318.json	
@@ -0,0 +1,2162 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      0.51,
+      -1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.12,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      -2.87,
+      -0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      2.0,
+      0.3,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.43,
+      -3.0,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.04,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.52,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.21,
+      0.27,
+      -0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.1,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      1.22,
+      -2.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.07,
+      0.67
+     ],
+     "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": 3.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      -3.83,
+      -1.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.33,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.66,
+      -3.73,
+      -1.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.46,
+      0.05
+     ],
+     "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": 1.0
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.24,
+      -3.74,
+      -2.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.08,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.33,
+       0.0
+      ],
+      [
+       -0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "coat rack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.59,
+      -3.8,
+      -1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.11,
+      0.02
+     ],
+     "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": 2.17
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.08,
+      -2.33,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.1,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.53,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       0.53,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      0.51,
+      -1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.12,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.13,
+      -3.55,
+      -2.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.09,
+      0.11
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      -3.38,
+      -2.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.06,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      -2.14,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.09,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      -1.87,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.18,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.41,
+      0.63,
+      -2.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.89,
+      0.09,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       -0.53,
+       0.0
+      ],
+      [
+       0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "headphones": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.13,
+      -3.11,
+      -2.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.07,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.36,
+      -3.92,
+      -2.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.03,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.59,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.7,
+      -4.22,
+      -2.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.09,
+      0.19
+     ],
+     "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": 1.0
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.77,
+      -4.21,
+      -2.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.3,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.58,
+      -3.75,
+      -2.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.3,
+      0.02
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.87,
+      -4.16,
+      -2.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.46,
+      0.18
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.5,
+      -3.68,
+      -2.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.28,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      -2.14,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.09,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      -1.87,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.18,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "shoe rack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      -0.73,
+      -2.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.37,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "shoes": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      -0.67,
+      -2.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.12,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      -0.44,
+      -2.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.08,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.52,
+       0.0
+      ],
+      [
+       -0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      -0.87,
+      -2.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.1,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.66,
+       0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      -0.96,
+      -2.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.13,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.55,
+       0.0
+      ],
+      [
+       -0.55,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      -0.78,
+      -2.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.1,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.42,
+      -0.77,
+      -2.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.12,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.4,
+      -0.61,
+      -2.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.08,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      -0.6,
+      -2.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.09,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.05,
+      -0.51,
+      -2.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.09,
+      0.29
+     ],
+     "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": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      -0.86,
+      -2.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.1,
+      0.09
+     ],
+     "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": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.58,
+      -0.54,
+      -2.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.09,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.65,
+      -0.44,
+      -2.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.09,
+      0.12
+     ],
+     "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": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.51,
+      -0.69,
+      -2.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.09,
+      0.04
+     ],
+     "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": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      -0.79,
+      -2.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.08,
+      0.04
+     ],
+     "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": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.16,
+      -0.7,
+      -2.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.07,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.55,
+       0.0
+      ],
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      -1.01,
+      -2.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.09,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.16,
+      -1.09,
+      -2.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.09,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.31,
+      -0.93,
+      -2.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.08,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      -0.91,
+      -2.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.05,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "suitcase": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.12,
+      -3.43,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.68,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.08,
+      -3.59,
+      -2.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.37,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "table lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.52,
+      -2.19,
+      -2.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.16,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      -0.19,
+      -1.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.1,
+      0.31
+     ],
+     "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": 3.33
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      -3.56,
+      -0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.33,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.58,
+      -3.75,
+      -2.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.26,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.87,
+      -4.16,
+      -2.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.47,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.5,
+      -3.68,
+      -2.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.28,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.08,
+      -4.45
+     ],
+     [
+      -2.88,
+      -4.45
+     ],
+     [
+      -2.78,
+      -4.55
+     ],
+     [
+      -2.68,
+      -4.55
+     ],
+     [
+      -2.58,
+      -4.65
+     ],
+     [
+      -2.58,
+      -4.85
+     ],
+     [
+      -0.68,
+      -4.85
+     ],
+     [
+      -0.68,
+      -4.75
+     ],
+     [
+      -0.48,
+      -4.55
+     ],
+     [
+      -0.48,
+      -4.35
+     ],
+     [
+      -0.18,
+      -4.05
+     ],
+     [
+      -0.18,
+      -3.95
+     ],
+     [
+      0.02,
+      -3.75
+     ],
+     [
+      0.02,
+      -3.65
+     ],
+     [
+      0.32,
+      -3.35
+     ],
+     [
+      0.32,
+      -3.25
+     ],
+     [
+      0.52,
+      -3.05
+     ],
+     [
+      0.52,
+      -2.95
+     ],
+     [
+      0.62,
+      -2.85
+     ],
+     [
+      0.62,
+      -2.75
+     ],
+     [
+      0.92,
+      -2.45
+     ],
+     [
+      0.92,
+      -2.35
+     ],
+     [
+      1.02,
+      -2.25
+     ],
+     [
+      1.02,
+      -2.15
+     ],
+     [
+      1.32,
+      -1.85
+     ],
+     [
+      1.32,
+      -1.75
+     ],
+     [
+      1.42,
+      -1.65
+     ],
+     [
+      1.42,
+      -1.55
+     ],
+     [
+      1.62,
+      -1.35
+     ],
+     [
+      1.62,
+      -1.25
+     ],
+     [
+      1.82,
+      -1.05
+     ],
+     [
+      1.82,
+      -0.95
+     ],
+     [
+      2.02,
+      -0.75
+     ],
+     [
+      2.02,
+      -0.65
+     ],
+     [
+      2.22,
+      -0.45
+     ],
+     [
+      2.32,
+      -0.45
+     ],
+     [
+      2.32,
+      0.45
+     ],
+     [
+      2.12,
+      0.45
+     ],
+     [
+      1.92,
+      0.65
+     ],
+     [
+      1.82,
+      0.65
+     ],
+     [
+      1.62,
+      0.85
+     ],
+     [
+      1.52,
+      0.85
+     ],
+     [
+      1.32,
+      1.05
+     ],
+     [
+      1.22,
+      1.05
+     ],
+     [
+      1.02,
+      1.25
+     ],
+     [
+      0.92,
+      1.25
+     ],
+     [
+      0.82,
+      1.35
+     ],
+     [
+      0.82,
+      1.45
+     ],
+     [
+      -0.28,
+      1.45
+     ],
+     [
+      -0.28,
+      1.35
+     ],
+     [
+      -0.48,
+      1.15
+     ],
+     [
+      -0.48,
+      1.05
+     ],
+     [
+      -0.68,
+      0.85
+     ],
+     [
+      -0.68,
+      0.75
+     ],
+     [
+      -0.88,
+      0.55
+     ],
+     [
+      -0.88,
+      -0.25
+     ],
+     [
+      -0.98,
+      -0.35
+     ],
+     [
+      -0.98,
+      -0.85
+     ],
+     [
+      -0.88,
+      -0.95
+     ],
+     [
+      -0.88,
+      -1.15
+     ],
+     [
+      -0.98,
+      -1.25
+     ],
+     [
+      -1.38,
+      -1.25
+     ],
+     [
+      -1.48,
+      -1.35
+     ],
+     [
+      -1.58,
+      -1.35
+     ],
+     [
+      -1.68,
+      -1.45
+     ],
+     [
+      -1.98,
+      -1.45
+     ],
+     [
+      -2.08,
+      -1.55
+     ],
+     [
+      -2.18,
+      -1.55
+     ],
+     [
+      -2.28,
+      -1.65
+     ],
+     [
+      -2.28,
+      -1.75
+     ],
+     [
+      -2.48,
+      -1.95
+     ],
+     [
+      -2.48,
+      -2.05
+     ],
+     [
+      -2.68,
+      -2.25
+     ],
+     [
+      -2.68,
+      -2.35
+     ],
+     [
+      -2.88,
+      -2.55
+     ],
+     [
+      -2.88,
+      -2.65
+     ],
+     [
+      -2.98,
+      -2.75
+     ],
+     [
+      -3.08,
+      -2.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/27dd4da69e.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/27dd4da69e.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfdf034a9e97f138fdd4245e3ba1b523a1f4a02f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/27dd4da69e.json	
@@ -0,0 +1,1514 @@
+{
+ "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": [
+      -2.52,
+      0.72,
+      -0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.13,
+      1.64
+     ],
+     "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": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      0.03,
+      -1.88
+     ],
+     "3D oriented bounding box dimensions": [
+      1.32,
+      0.74,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       -0.53,
+       0.0
+      ],
+      [
+       0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ],
+  "bowl": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.25,
+      0.52,
+      -2.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.04,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      -0.35,
+      -2.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.05,
+      0.06
+     ],
+     "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": 0.0
+   }
+  ],
+  "bucket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.61,
+      1.24,
+      -0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.22,
+      0.23
+     ],
+     "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": 0.5
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.88,
+      -1.01,
+      -1.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.07,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.24,
+      -1.04,
+      -1.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.05,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.13,
+      -1.39,
+      -1.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.04,
+      0.79
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.14,
+      -0.94,
+      -1.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.13,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.99,
+      0.68,
+      -0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.4,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       -0.67,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.32,
+      0.74,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.19,
+      0.15
+     ],
+     "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": 3.17
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.27,
+      0.4,
+      -0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.26,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.66,
+       0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "coat rack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.9,
+      0.04,
+      -2.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.11,
+      0.06
+     ],
+     "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": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.48,
+      -1.07,
+      -2.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.02,
+      0.13
+     ],
+     "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": 2.67
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.13,
+      0.64,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.01,
+      0.35
+     ],
+     "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": 2.5
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.4,
+      0.27,
+      -2.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.09,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      0.24,
+      -2.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.12,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.64,
+      0.9,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.04,
+      0.13
+     ],
+     "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": 3.83
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.38,
+      0.39,
+      -1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.03,
+      0.22
+     ],
+     "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": 0.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      0.28,
+      -1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      1.69,
+      0.06
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.62,
+      0.59,
+      -2.74
+     ],
+     "3D oriented bounding box dimensions": [
+      1.66,
+      0.59,
+      0.14
+     ],
+     "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": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.31,
+      -0.43,
+      -3.64
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.76,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      0.43,
+      -2.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.23,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.84,
+      0.76,
+      1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.21,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.93,
+      0.17,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.32,
+      0.19
+     ],
+     "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": 3.17
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      0.44,
+      -2.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.49,
+      0.29
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      0.43,
+      -2.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.23,
+      0.04
+     ],
+     "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": 0.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.16,
+      -0.02,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.25,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.24,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.63,
+      -0.39,
+      1.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.52,
+      0.22
+     ],
+     "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": 3.17
+   }
+  ],
+  "pan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      0.43,
+      -2.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.09,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.64,
+      0.9,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.04,
+      0.13
+     ],
+     "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": 3.83
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.82,
+      0.09,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.06,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.59,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.08,
+      0.93,
+      -1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.13,
+      0.44
+     ],
+     "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": 4.0
+   }
+  ],
+  "suitcase": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.39,
+      1.09,
+      -0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.39,
+      0.24
+     ],
+     "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": 1.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.2,
+      0.87,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.43,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.61,
+      1.01,
+      1.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.31,
+      0.54
+     ],
+     "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": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.26,
+      0.51,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.02,
+      0.15
+     ],
+     "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": 2.83
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.78,
+      0.67,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.1,
+      0.19
+     ],
+     "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": 3.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      -0.2,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.34,
+      0.24
+     ],
+     "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": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.91,
+      -1.31
+     ],
+     [
+      -4.81,
+      -1.31
+     ],
+     [
+      -4.71,
+      -1.41
+     ],
+     [
+      -4.71,
+      -1.51
+     ],
+     [
+      0.19,
+      -1.51
+     ],
+     [
+      0.19,
+      -1.41
+     ],
+     [
+      0.29,
+      -1.31
+     ],
+     [
+      0.49,
+      -1.31
+     ],
+     [
+      0.59,
+      -1.41
+     ],
+     [
+      0.59,
+      -1.51
+     ],
+     [
+      1.09,
+      -1.51
+     ],
+     [
+      1.09,
+      -1.41
+     ],
+     [
+      1.19,
+      -1.31
+     ],
+     [
+      3.19,
+      -1.31
+     ],
+     [
+      3.19,
+      1.59
+     ],
+     [
+      2.29,
+      1.59
+     ],
+     [
+      2.19,
+      1.69
+     ],
+     [
+      2.19,
+      1.89
+     ],
+     [
+      -1.71,
+      1.89
+     ],
+     [
+      -1.71,
+      1.79
+     ],
+     [
+      -1.91,
+      1.59
+     ],
+     [
+      -2.91,
+      1.59
+     ],
+     [
+      -3.01,
+      1.49
+     ],
+     [
+      -3.41,
+      1.49
+     ],
+     [
+      -3.51,
+      1.39
+     ],
+     [
+      -4.71,
+      1.39
+     ],
+     [
+      -4.71,
+      1.19
+     ],
+     [
+      -4.81,
+      1.09
+     ],
+     [
+      -4.91,
+      1.09
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/286b55a2bf.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/286b55a2bf.json
new file mode 100644
index 0000000000000000000000000000000000000000..4935a7ccf95c690b3fe6985a3861e8472d69e410
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/286b55a2bf.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": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.05,
+      -1.13,
+      -0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.0,
+      0.05
+     ],
+     "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": 2.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.17,
+      0.63,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      0.6,
+      0.09
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.55,
+      0.1,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.1,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.69,
+      0.95,
+      -1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.24,
+      0.06
+     ],
+     "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": 0.33
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.25,
+      -0.77,
+      -0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.03,
+      0.26
+     ],
+     "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": 4.67
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.32,
+      -0.66,
+      -1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.03,
+      0.04
+     ],
+     "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": 3.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.01,
+      0.95,
+      -0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.04,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      0.55,
+      -0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.2,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.59,
+      -1.31
+     ],
+     [
+      2.41,
+      -1.31
+     ],
+     [
+      2.41,
+      1.49
+     ],
+     [
+      -0.59,
+      1.49
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/31a2c91c43.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/31a2c91c43.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed001af398d0d279bba2096272705894f21e1bd1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/31a2c91c43.json	
@@ -0,0 +1,432 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      0.17,
+      -0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.07,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "coat rack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.06,
+      0.53,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.03,
+      0.09,
+      0.03
+     ],
+     "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": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.07,
+      0.32,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.23,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      0.48,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.03,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       0.64,
+       0.0
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      0.5,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.03,
+      1.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      1.13,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.31,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      0.47,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.03,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.54,
+      -0.27
+     ],
+     [
+      -1.44,
+      -0.27
+     ],
+     [
+      -1.24,
+      -0.47
+     ],
+     [
+      -1.24,
+      -0.57
+     ],
+     [
+      -0.74,
+      -1.07
+     ],
+     [
+      -0.74,
+      -1.17
+     ],
+     [
+      0.66,
+      -1.17
+     ],
+     [
+      0.66,
+      -1.07
+     ],
+     [
+      1.26,
+      -0.47
+     ],
+     [
+      1.36,
+      -0.47
+     ],
+     [
+      1.36,
+      0.53
+     ],
+     [
+      1.26,
+      0.53
+     ],
+     [
+      1.16,
+      0.63
+     ],
+     [
+      1.16,
+      0.73
+     ],
+     [
+      0.86,
+      1.03
+     ],
+     [
+      0.76,
+      1.03
+     ],
+     [
+      0.66,
+      1.13
+     ],
+     [
+      0.66,
+      1.23
+     ],
+     [
+      0.36,
+      1.53
+     ],
+     [
+      0.36,
+      1.63
+     ],
+     [
+      -0.84,
+      1.63
+     ],
+     [
+      -0.84,
+      1.53
+     ],
+     [
+      -1.44,
+      0.93
+     ],
+     [
+      -1.54,
+      0.93
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3864514494.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3864514494.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0d35dbcf268a0e60e15ba20c7cd5d59af5def6a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3864514494.json	
@@ -0,0 +1,880 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.06,
+      0.7,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.04,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.65,
+      -0.41,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.01,
+      0.2
+     ],
+     "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": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.69,
+      -0.34,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.02,
+      0.08
+     ],
+     "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": 3.67
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.06,
+      0.7,
+      1.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.04,
+      0.38
+     ],
+     "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": 2.0
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      0.67,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.08,
+      0.19
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      0.69,
+      1.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.07,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      1.04,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.05,
+      0.36
+     ],
+     "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": 0.17
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.69,
+      0.27,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      0.17,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.06,
+      -0.04,
+      1.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.49,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.36,
+       0.0
+      ],
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      -0.04,
+      1.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.68,
+      0.03
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.35,
+      0.52,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      2.11,
+      0.04,
+      0.81
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.68,
+      0.3,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.02,
+      0.22
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.61,
+      -0.24,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.75,
+      0.03
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.32,
+      1.18,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.63,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.08,
+      1.16,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.19,
+      0.03
+     ],
+     "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": 1.5
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      0.59,
+      1.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.16,
+      0.14
+     ],
+     "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": 0.0
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.26,
+      0.57,
+      1.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.19,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.64,
+      0.3,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      1.42,
+      0.07,
+      0.51
+     ],
+     "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": 0.67
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.14,
+      0.52,
+      1.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.03,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.05,
+      0.68,
+      1.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.03,
+      0.01
+     ],
+     "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": 4.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.69,
+      0.39,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.11,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.87,
+      -1.25
+     ],
+     [
+      -0.57,
+      -1.25
+     ],
+     [
+      -0.57,
+      -1.05
+     ],
+     [
+      -0.47,
+      -0.95
+     ],
+     [
+      -0.07,
+      -0.95
+     ],
+     [
+      0.03,
+      -0.85
+     ],
+     [
+      0.33,
+      -0.85
+     ],
+     [
+      0.43,
+      -0.75
+     ],
+     [
+      0.63,
+      -0.75
+     ],
+     [
+      0.73,
+      -0.85
+     ],
+     [
+      0.73,
+      -1.05
+     ],
+     [
+      0.83,
+      -1.15
+     ],
+     [
+      0.83,
+      -1.25
+     ],
+     [
+      3.43,
+      -1.25
+     ],
+     [
+      3.43,
+      1.65
+     ],
+     [
+      -1.57,
+      1.65
+     ],
+     [
+      -1.57,
+      1.35
+     ],
+     [
+      -1.67,
+      1.25
+     ],
+     [
+      -1.67,
+      1.05
+     ],
+     [
+      -1.77,
+      0.95
+     ],
+     [
+      -1.87,
+      0.95
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/38d58a7a31.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/38d58a7a31.json
new file mode 100644
index 0000000000000000000000000000000000000000..a561fca9f1eb4a26ab6ca8b58d4d470622f354d6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/38d58a7a31.json	
@@ -0,0 +1,1174 @@
+{
+ "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": [
+      -2.54,
+      1.13,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.26,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      -1.38,
+      3.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.11,
+      2.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.87,
+      -1.24,
+      3.74
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      0.04,
+      0.21
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      -1.33,
+      3.72
+     ],
+     "3D oriented bounding box dimensions": [
+      1.43,
+      0.04,
+      0.28
+     ],
+     "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": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.9,
+      -1.44,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.01,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.09,
+      -1.29,
+      6.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.03,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      -1.38,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.01,
+      0.28
+     ],
+     "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": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.59,
+      -1.3,
+      6.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.17,
+      0.5
+     ],
+     "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": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.84,
+      -1.37,
+      6.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.02,
+      0.27
+     ],
+     "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": 0.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.63,
+      0.92,
+      2.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.79,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.73,
+      0.92,
+      2.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.34,
+      0.36
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.22,
+      0.83,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.48,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      1.05,
+      6.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.35,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.11,
+      0.88,
+      6.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.14,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.76,
+      0.87,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.44,
+      0.32
+     ],
+     "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": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.7,
+      1.18,
+      6.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.52,
+      0.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.43,
+       0.0
+      ],
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.78,
+      0.69,
+      5.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.12,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.44,
+       0.0
+      ],
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.96,
+      0.52,
+      7.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.13,
+      0.02
+     ],
+     "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": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.81,
+      1.34,
+      3.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.05,
+      0.08
+     ],
+     "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": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.43,
+      1.27,
+      4.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.73,
+      0.49,
+      0.79
+     ],
+     "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": 2.17
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.47,
+      1.06,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.03,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      0.4,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.99,
+      0.91,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.4,
+      0.8,
+      1.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.21,
+      2.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.26,
+      -0.91,
+      2.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.12,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.26,
+       0.0
+      ],
+      [
+       0.26,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      0.84,
+      2.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.05,
+      2.01
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.06,
+      0.76,
+      5.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.02,
+      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": 1.83
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.54,
+      1.12,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.27,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.38,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      1.24,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.28,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.4,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.4,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.53,
+      1.15,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.16,
+      0.19
+     ],
+     "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": 2.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.53,
+      -0.06,
+      2.37
+     ],
+     "3D oriented bounding box dimensions": [
+      1.35,
+      0.14,
+      2.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.57,
+      0.18,
+      4.81
+     ],
+     "3D oriented bounding box dimensions": [
+      1.29,
+      0.1,
+      2.5
+     ],
+     "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": 4.0
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.19,
+      0.22,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      2.26,
+      1.23,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.92,
+      -1.83
+     ],
+     [
+      2.88,
+      -1.83
+     ],
+     [
+      2.88,
+      -1.53
+     ],
+     [
+      2.98,
+      -1.43
+     ],
+     [
+      4.58,
+      -1.43
+     ],
+     [
+      4.58,
+      1.67
+     ],
+     [
+      -2.92,
+      1.67
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3db0a1c8f3.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3db0a1c8f3.json
new file mode 100644
index 0000000000000000000000000000000000000000..86edd568e7b08c09511e117d19a5a65f75446656
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3db0a1c8f3.json	
@@ -0,0 +1,1818 @@
+{
+ "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,
+      1.26,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.68,
+      0.08
+     ],
+     "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": 3.33
+   }
+  ],
+  "bucket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.63,
+      -2.9,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.15,
+      0.24
+     ],
+     "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": 5.17
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.55,
+      -2.98,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.06,
+      0.19
+     ],
+     "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": 2.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.82,
+      0.11,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.29,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.52,
+      -3.1,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.36,
+      1.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.46,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "computer tower": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      2.23,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.26,
+      0.63
+     ],
+     "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": 3.33
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      2.13,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.07,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.28,
+       0.0
+      ],
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.79,
+      0.79,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.19,
+      0.09
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.3,
+      0.44,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.39,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       -0.62,
+       0.0
+      ],
+      [
+       0.62,
+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.25,
+      0.81,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.32,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.76,
+      1.31,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.11,
+      0.09
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.23,
+      1.34,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.33,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.24,
+      1.69,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.19,
+      0.1
+     ],
+     "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": 1.33
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.73,
+      -2.04,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.12,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.88,
+      -0.91,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.36,
+      1.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.02,
+      2.34,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.04,
+      1.23
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      -1.22,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.15,
+      1.96
+     ],
+     "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": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.15,
+      -2.12,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.04,
+      0.68
+     ],
+     "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": 2.17
+   }
+  ],
+  "headphones": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.23,
+      0.51,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.06,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.91,
+      2.22,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.27,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.35,
+       0.0
+      ],
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.16,
+      -1.6,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.03,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.05,
+      1.97,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.11,
+      0.38
+     ],
+     "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": 3.5
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.93,
+      -1.18,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.06,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.79,
+      2.13,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.18,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      -3.36,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.3,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "shoes": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.91,
+      -2.38,
+      -0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.08,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.05,
+      -2.63,
+      -0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.07,
+      0.09
+     ],
+     "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": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      -3.13,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.11,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      -2.69,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.07,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -2.48,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.05,
+      0.04
+     ],
+     "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": 5.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      1.09,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      0.98,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "suitcase": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.88,
+      -3.75,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.2,
+      0.43
+     ],
+     "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": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      0.87,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      0.37,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      0.95,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.33,
+      0.09
+     ],
+     "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": 1.0
+   }
+  ],
+  "table lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.08,
+      2.22,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.13,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.4,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.4,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.71,
+      0.36,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.34,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.41,
+      2.61,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.3,
+      0.25
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.26,
+      -3.36,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.1,
+      0.74
+     ],
+     "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": 2.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.49,
+      1.23,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.06,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      -2.67,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.01,
+      0.48
+     ],
+     "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": 5.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.89,
+      -0.14
+     ],
+     [
+      -5.49,
+      -0.14
+     ],
+     [
+      -5.39,
+      -0.24
+     ],
+     [
+      -4.59,
+      -0.24
+     ],
+     [
+      -4.49,
+      -0.34
+     ],
+     [
+      -3.69,
+      -0.34
+     ],
+     [
+      -3.59,
+      -0.24
+     ],
+     [
+      -2.79,
+      -0.24
+     ],
+     [
+      -2.69,
+      -0.34
+     ],
+     [
+      -2.69,
+      -0.54
+     ],
+     [
+      -2.49,
+      -0.74
+     ],
+     [
+      -2.49,
+      -1.34
+     ],
+     [
+      -2.59,
+      -1.44
+     ],
+     [
+      -3.09,
+      -1.44
+     ],
+     [
+      -3.09,
+      -2.64
+     ],
+     [
+      -2.99,
+      -2.64
+     ],
+     [
+      -2.79,
+      -2.84
+     ],
+     [
+      -2.79,
+      -2.94
+     ],
+     [
+      -2.69,
+      -3.04
+     ],
+     [
+      -2.69,
+      -3.74
+     ],
+     [
+      -2.59,
+      -3.84
+     ],
+     [
+      -2.59,
+      -3.94
+     ],
+     [
+      0.51,
+      -3.94
+     ],
+     [
+      0.51,
+      -3.84
+     ],
+     [
+      0.61,
+      -3.74
+     ],
+     [
+      0.61,
+      -3.44
+     ],
+     [
+      0.71,
+      -3.34
+     ],
+     [
+      0.91,
+      -3.34
+     ],
+     [
+      1.01,
+      -3.44
+     ],
+     [
+      1.01,
+      -3.94
+     ],
+     [
+      2.21,
+      -3.94
+     ],
+     [
+      2.21,
+      -3.74
+     ],
+     [
+      2.31,
+      -3.64
+     ],
+     [
+      2.41,
+      -3.64
+     ],
+     [
+      2.51,
+      -3.54
+     ],
+     [
+      2.51,
+      -2.84
+     ],
+     [
+      2.41,
+      -2.74
+     ],
+     [
+      2.11,
+      -2.74
+     ],
+     [
+      2.01,
+      -2.64
+     ],
+     [
+      1.91,
+      -2.64
+     ],
+     [
+      1.81,
+      -2.54
+     ],
+     [
+      1.81,
+      -1.84
+     ],
+     [
+      1.71,
+      -1.74
+     ],
+     [
+      1.71,
+      -1.24
+     ],
+     [
+      1.81,
+      -1.14
+     ],
+     [
+      2.01,
+      -1.14
+     ],
+     [
+      2.11,
+      -1.24
+     ],
+     [
+      2.11,
+      -1.54
+     ],
+     [
+      2.21,
+      -1.64
+     ],
+     [
+      2.21,
+      -1.74
+     ],
+     [
+      2.61,
+      -1.74
+     ],
+     [
+      2.71,
+      -1.64
+     ],
+     [
+      2.81,
+      -1.64
+     ],
+     [
+      2.91,
+      -1.54
+     ],
+     [
+      3.21,
+      -1.54
+     ],
+     [
+      3.31,
+      -1.44
+     ],
+     [
+      3.31,
+      -1.14
+     ],
+     [
+      3.41,
+      -1.04
+     ],
+     [
+      3.71,
+      -1.04
+     ],
+     [
+      3.81,
+      -1.14
+     ],
+     [
+      3.81,
+      -1.44
+     ],
+     [
+      4.41,
+      -1.44
+     ],
+     [
+      4.41,
+      2.36
+     ],
+     [
+      3.21,
+      2.36
+     ],
+     [
+      3.11,
+      2.26
+     ],
+     [
+      2.71,
+      2.26
+     ],
+     [
+      2.41,
+      2.56
+     ],
+     [
+      2.41,
+      2.86
+     ],
+     [
+      0.81,
+      2.86
+     ],
+     [
+      0.81,
+      2.46
+     ],
+     [
+      0.61,
+      2.26
+     ],
+     [
+      0.61,
+      2.16
+     ],
+     [
+      0.51,
+      2.06
+     ],
+     [
+      -0.49,
+      2.06
+     ],
+     [
+      -0.59,
+      1.96
+     ],
+     [
+      -0.79,
+      1.96
+     ],
+     [
+      -0.89,
+      2.06
+     ],
+     [
+      -0.99,
+      2.06
+     ],
+     [
+      -1.09,
+      2.16
+     ],
+     [
+      -1.49,
+      2.16
+     ],
+     [
+      -1.59,
+      2.06
+     ],
+     [
+      -1.89,
+      2.06
+     ],
+     [
+      -1.99,
+      1.96
+     ],
+     [
+      -2.09,
+      1.96
+     ],
+     [
+      -2.19,
+      1.86
+     ],
+     [
+      -2.39,
+      1.86
+     ],
+     [
+      -2.49,
+      1.96
+     ],
+     [
+      -2.69,
+      1.96
+     ],
+     [
+      -2.79,
+      2.06
+     ],
+     [
+      -2.79,
+      2.86
+     ],
+     [
+      -4.89,
+      2.86
+     ],
+     [
+      -4.89,
+      2.56
+     ],
+     [
+      -4.99,
+      2.46
+     ],
+     [
+      -5.09,
+      2.46
+     ],
+     [
+      -5.09,
+      1.96
+     ],
+     [
+      -5.39,
+      1.66
+     ],
+     [
+      -5.89,
+      1.66
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3e8bba0176.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3e8bba0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..06236dd3a912f708cc150a7feafef0292f76fafc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3e8bba0176.json	
@@ -0,0 +1,1412 @@
+{
+ "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": [
+      -1.5,
+      -1.32,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.08,
+      1.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.82,
+      -1.4,
+      2.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.1,
+      1.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      -1.34,
+      2.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.06,
+      1.25
+     ],
+     "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": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.07,
+      -0.57,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      0.01,
+      0.29
+     ],
+     "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": 4.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      0.4,
+      2.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.67,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      0.79,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      1.05,
+      0.32
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      0.8,
+      3.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.45,
+      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": 0.67
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.8,
+      0.59,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.01,
+      0.15
+     ],
+     "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": 3.5
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.46,
+      0.54,
+      2.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.14,
+      0.07
+     ],
+     "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": 1.33
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.08,
+      0.61,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.04,
+      0.37
+     ],
+     "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": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      0.77,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.28,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.74,
+       0.0
+      ],
+      [
+       -0.74,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      0.87,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.07,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.08,
+      0.9,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.26,
+      1.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.63,
+      0.5,
+      2.63
+     ],
+     "3D oriented bounding box dimensions": [
+      1.98,
+      0.38,
+      0.82
+     ],
+     "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": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      -0.28,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.04,
+      0.41
+     ],
+     "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": 4.0
+   }
+  ],
+  "headphones": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      0.54,
+      1.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.11,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.14,
+      0.61,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.01,
+      0.1
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.49,
+      0.6,
+      1.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.07,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.22,
+      0.57,
+      2.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.01,
+      0.11
+     ],
+     "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": 1.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      0.25,
+      1.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.29,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.01,
+      0.13,
+      2.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.03,
+      0.23
+     ],
+     "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": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.03,
+      0.11,
+      2.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.02,
+      0.27
+     ],
+     "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": 2.83
+   }
+  ],
+  "paper bag": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      0.54,
+      2.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.13,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      0.6,
+      1.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.06,
+      0.37
+     ],
+     "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": 1.17
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      0.56,
+      1.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.02,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.38,
+      0.59,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.02,
+      0.08
+     ],
+     "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": 2.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      0.58,
+      2.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.43,
+      0.03,
+      0.73
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.34,
+      0.63,
+      2.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.5,
+      1.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.53,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       0.53,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      0.73,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      0.1,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.3,
+      0.6,
+      2.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.95,
+      0.09,
+      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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.08,
+      0.28,
+      2.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.02,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.56,
+      0.59,
+      2.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.05,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.5,
+      0.6,
+      1.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.05,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.88,
+      1.23,
+      3.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.25,
+      0.29
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.17,
+      1.25,
+      3.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.23,
+      0.26
+     ],
+     "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": 0.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.31,
+      0.24,
+      2.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.33,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.27,
+       0.0
+      ],
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.67,
+      0.0,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      2.26,
+      0.89,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.22,
+      -0.07,
+      3.47
+     ],
+     "3D oriented bounding box dimensions": [
+      2.39,
+      0.66,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.99,
+      -0.04,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.04,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.87,
+      -1.89
+     ],
+     [
+      1.53,
+      -1.89
+     ],
+     [
+      1.53,
+      -1.79
+     ],
+     [
+      1.63,
+      -1.69
+     ],
+     [
+      2.13,
+      -1.69
+     ],
+     [
+      2.13,
+      1.51
+     ],
+     [
+      -2.87,
+      1.51
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3f15a9266d.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..615b286a455dae1237ef6cc7373d0290afc57e54
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/3f15a9266d.json	
@@ -0,0 +1,1280 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.63,
+      1.54,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.3,
+      1.79
+     ],
+     "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": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      2.35,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.24,
+      1.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.14,
+      2.29,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.15,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "bucket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.78,
+      2.11,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.06,
+      0.2
+     ],
+     "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": 1.0
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -0.31,
+      1.89
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.47,
+      0.02
+     ],
+     "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": 3.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      1.54,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.53,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.67,
+      0.25,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.56,
+      1.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.71,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       -0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      0.7,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.56,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.69,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       -0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      1.79,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.44,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.5,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.35,
+      -0.08,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.02,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.14,
+      -0.25,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.05,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      -0.4,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.06,
+      0.08
+     ],
+     "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": 2.17
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      1.52,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.54,
+      0.05
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.58,
+      0.18,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.59,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       -0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.46,
+      0.77,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      2.15,
+      0.03,
+      0.72
+     ],
+     "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": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.07,
+      2.22,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.03,
+      2.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      -0.33,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.25,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      -0.52,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.16,
+      0.23
+     ],
+     "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": 2.67
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      -0.57,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.03,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.37,
+      -0.27,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.05,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.61,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.33,
+      -0.35,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      2.21,
+      0.06
+     ],
+     "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": 2.67
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.42,
+      -0.92,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.16,
+      0.06
+     ],
+     "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": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.37,
+      -0.89,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.14,
+      0.04
+     ],
+     "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": 0.0
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.38,
+      1.0,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.23,
+      0.32
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.38,
+      0.61,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.12,
+      0.08
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      1.01,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.26,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.26,
+       0.0
+      ],
+      [
+       -0.26,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      -0.58,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.04,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.37,
+      -0.27,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.05,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.38,
+      1.12,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      2.65,
+      0.04,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.56,
+      0.35,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      1.76,
+      0.02,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.9,
+      -1.1
+     ],
+     [
+      -1.8,
+      -1.1
+     ],
+     [
+      -1.7,
+      -1.2
+     ],
+     [
+      -1.5,
+      -1.2
+     ],
+     [
+      -1.4,
+      -1.3
+     ],
+     [
+      -1.1,
+      -1.3
+     ],
+     [
+      -1.0,
+      -1.4
+     ],
+     [
+      -0.9,
+      -1.4
+     ],
+     [
+      -0.8,
+      -1.5
+     ],
+     [
+      -0.8,
+      -1.6
+     ],
+     [
+      1.2,
+      -1.6
+     ],
+     [
+      1.2,
+      -1.5
+     ],
+     [
+      1.3,
+      -1.4
+     ],
+     [
+      1.3,
+      -1.1
+     ],
+     [
+      1.4,
+      -1.0
+     ],
+     [
+      1.4,
+      -0.7
+     ],
+     [
+      1.5,
+      -0.6
+     ],
+     [
+      1.5,
+      -0.4
+     ],
+     [
+      1.6,
+      -0.3
+     ],
+     [
+      1.6,
+      0.0
+     ],
+     [
+      1.7,
+      0.1
+     ],
+     [
+      1.7,
+      0.4
+     ],
+     [
+      1.8,
+      0.5
+     ],
+     [
+      1.9,
+      0.5
+     ],
+     [
+      1.9,
+      2.2
+     ],
+     [
+      1.8,
+      2.2
+     ],
+     [
+      1.7,
+      2.3
+     ],
+     [
+      1.4,
+      2.3
+     ],
+     [
+      1.3,
+      2.4
+     ],
+     [
+      1.1,
+      2.4
+     ],
+     [
+      1.0,
+      2.5
+     ],
+     [
+      0.6,
+      2.5
+     ],
+     [
+      0.5,
+      2.6
+     ],
+     [
+      0.5,
+      2.7
+     ],
+     [
+      -1.3,
+      2.7
+     ],
+     [
+      -1.3,
+      2.5
+     ],
+     [
+      -1.4,
+      2.4
+     ],
+     [
+      -1.4,
+      2.3
+     ],
+     [
+      -1.5,
+      2.2
+     ],
+     [
+      -1.5,
+      1.9
+     ],
+     [
+      -1.6,
+      1.8
+     ],
+     [
+      -1.6,
+      1.5
+     ],
+     [
+      -1.7,
+      1.4
+     ],
+     [
+      -1.7,
+      1.1
+     ],
+     [
+      -1.8,
+      1.0
+     ],
+     [
+      -1.9,
+      1.0
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/40aec5fffa.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/40aec5fffa.json
new file mode 100644
index 0000000000000000000000000000000000000000..d90de5fe9d7480e788154d4d8971771839df0259
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/40aec5fffa.json	
@@ -0,0 +1,1022 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.33,
+      -0.03,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.1,
+      0.13
+     ],
+     "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": 4.0
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.86,
+      0.05,
+      -2.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.45,
+      0.01
+     ],
+     "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": 4.83
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      0.48,
+      -0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.07,
+      0.08
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.98,
+      0.02,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.07,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.96,
+      -1.58,
+      -0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.03,
+      1.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      0.52,
+      -1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.07,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.36,
+       0.0
+      ],
+      [
+       -0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      -0.32,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.04,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       0.58,
+       0.0
+      ],
+      [
+       -0.58,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.55,
+      0.12,
+      -1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.01,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.52,
+       0.0
+      ],
+      [
+       -0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.83,
+      0.72,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.06,
+      1.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.43,
+       0.0
+      ],
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.72,
+      -0.58,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.01,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.54,
+       0.0
+      ],
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      -0.04,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.04,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.44,
+       0.0
+      ],
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      0.4,
+      -0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.02,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.33,
+      0.27,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.1,
+      0.22
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      0.23,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.09,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       -0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.75,
+      -0.42,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.24,
+      0.25
+     ],
+     "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": 1.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      0.11,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.02,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.52,
+       0.0
+      ],
+      [
+       -0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.62,
+      1.09,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.21,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      -0.08,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.37,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      -0.27,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.31,
+      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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.41,
+      0.02,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.25,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.52,
+       0.0
+      ],
+      [
+       -0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.73,
+      -0.46,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.23,
+      0.25
+     ],
+     "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": 1.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.53,
+      -1.69
+     ],
+     [
+      -2.43,
+      -1.69
+     ],
+     [
+      -2.13,
+      -1.99
+     ],
+     [
+      -2.13,
+      -2.09
+     ],
+     [
+      -0.83,
+      -2.09
+     ],
+     [
+      -0.83,
+      -1.99
+     ],
+     [
+      -0.63,
+      -1.79
+     ],
+     [
+      -0.53,
+      -1.79
+     ],
+     [
+      -0.33,
+      -1.59
+     ],
+     [
+      -0.23,
+      -1.59
+     ],
+     [
+      -0.13,
+      -1.49
+     ],
+     [
+      -0.03,
+      -1.49
+     ],
+     [
+      0.07,
+      -1.39
+     ],
+     [
+      0.17,
+      -1.39
+     ],
+     [
+      0.37,
+      -1.19
+     ],
+     [
+      0.47,
+      -1.19
+     ],
+     [
+      0.57,
+      -1.09
+     ],
+     [
+      0.67,
+      -1.09
+     ],
+     [
+      0.87,
+      -0.89
+     ],
+     [
+      0.97,
+      -0.89
+     ],
+     [
+      1.07,
+      -0.79
+     ],
+     [
+      1.17,
+      -0.79
+     ],
+     [
+      1.27,
+      -0.69
+     ],
+     [
+      1.37,
+      -0.69
+     ],
+     [
+      1.57,
+      -0.49
+     ],
+     [
+      1.67,
+      -0.49
+     ],
+     [
+      1.77,
+      -0.39
+     ],
+     [
+      1.87,
+      -0.39
+     ],
+     [
+      1.97,
+      -0.29
+     ],
+     [
+      2.17,
+      -0.29
+     ],
+     [
+      2.17,
+      1.41
+     ],
+     [
+      2.07,
+      1.41
+     ],
+     [
+      1.97,
+      1.51
+     ],
+     [
+      1.97,
+      1.61
+     ],
+     [
+      0.47,
+      1.61
+     ],
+     [
+      0.47,
+      1.51
+     ],
+     [
+      0.07,
+      1.11
+     ],
+     [
+      -0.13,
+      1.11
+     ],
+     [
+      -0.23,
+      1.01
+     ],
+     [
+      -0.33,
+      1.01
+     ],
+     [
+      -0.43,
+      0.91
+     ],
+     [
+      -0.53,
+      0.91
+     ],
+     [
+      -0.63,
+      0.81
+     ],
+     [
+      -0.73,
+      0.81
+     ],
+     [
+      -0.83,
+      0.71
+     ],
+     [
+      -0.93,
+      0.71
+     ],
+     [
+      -1.13,
+      0.51
+     ],
+     [
+      -1.23,
+      0.51
+     ],
+     [
+      -1.33,
+      0.41
+     ],
+     [
+      -1.43,
+      0.41
+     ],
+     [
+      -1.63,
+      0.21
+     ],
+     [
+      -1.73,
+      0.21
+     ],
+     [
+      -1.73,
+      0.11
+     ],
+     [
+      -1.83,
+      0.01
+     ],
+     [
+      -2.13,
+      0.01
+     ],
+     [
+      -2.33,
+      -0.19
+     ],
+     [
+      -2.53,
+      -0.19
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41069025.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41069025.json
new file mode 100644
index 0000000000000000000000000000000000000000..c70765573607a3268842b8574f51943c68107827
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41069025.json	
@@ -0,0 +1,560 @@
+{
+ "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": [
+      5.49,
+      -2.75,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.09,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      -1.58,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.4,
+      0.8
+     ],
+     "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": 1.83
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.51,
+      -3.86,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.02,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.0,
+      -0.42,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      0.64,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      -3.91,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.38,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      0.43,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.4,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      -0.99,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.28,
+      0.73
+     ],
+     "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": 2.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.42,
+      -0.55,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.95,
+      0.02,
+      0.39
+     ],
+     "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": 2.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.89,
+      -1.12
+     ],
+     [
+      -0.79,
+      -1.12
+     ],
+     [
+      -0.69,
+      -1.22
+     ],
+     [
+      -0.69,
+      -1.82
+     ],
+     [
+      -0.59,
+      -1.92
+     ],
+     [
+      -0.59,
+      -2.52
+     ],
+     [
+      -0.49,
+      -2.62
+     ],
+     [
+      -0.49,
+      -2.82
+     ],
+     [
+      -0.19,
+      -2.82
+     ],
+     [
+      -0.09,
+      -2.92
+     ],
+     [
+      -0.09,
+      -3.12
+     ],
+     [
+      -0.19,
+      -3.22
+     ],
+     [
+      -0.29,
+      -3.22
+     ],
+     [
+      -0.29,
+      -3.32
+     ],
+     [
+      -0.39,
+      -3.42
+     ],
+     [
+      -0.39,
+      -3.92
+     ],
+     [
+      -0.29,
+      -4.02
+     ],
+     [
+      -0.29,
+      -4.52
+     ],
+     [
+      -0.19,
+      -4.62
+     ],
+     [
+      -0.19,
+      -4.82
+     ],
+     [
+      -0.09,
+      -4.82
+     ],
+     [
+      0.01,
+      -4.92
+     ],
+     [
+      0.01,
+      -5.12
+     ],
+     [
+      3.61,
+      -5.12
+     ],
+     [
+      3.61,
+      -3.32
+     ],
+     [
+      3.31,
+      -3.02
+     ],
+     [
+      3.31,
+      -2.72
+     ],
+     [
+      3.41,
+      -2.62
+     ],
+     [
+      3.51,
+      -2.62
+     ],
+     [
+      3.51,
+      -2.22
+     ],
+     [
+      3.21,
+      -2.22
+     ],
+     [
+      3.11,
+      -2.12
+     ],
+     [
+      3.11,
+      -1.42
+     ],
+     [
+      3.01,
+      -1.32
+     ],
+     [
+      3.01,
+      -0.52
+     ],
+     [
+      2.91,
+      -0.42
+     ],
+     [
+      2.91,
+      -0.32
+     ],
+     [
+      2.81,
+      -0.22
+     ],
+     [
+      2.81,
+      0.38
+     ],
+     [
+      2.71,
+      0.48
+     ],
+     [
+      2.71,
+      1.28
+     ],
+     [
+      2.61,
+      1.38
+     ],
+     [
+      2.61,
+      1.68
+     ],
+     [
+      -0.09,
+      1.68
+     ],
+     [
+      -0.09,
+      1.58
+     ],
+     [
+      -0.19,
+      1.48
+     ],
+     [
+      -0.89,
+      1.48
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41069043.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41069043.json
new file mode 100644
index 0000000000000000000000000000000000000000..e77e2314b5d6f39a6bbf682599d4b3f08e8fc1b8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41069043.json	
@@ -0,0 +1,508 @@
+{
+ "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": [
+      -0.84,
+      -1.28,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      1.89,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.4,
+      -2.4,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      1.44,
+      0.58
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.25,
+      -0.23,
+      -0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      2.41,
+      0.73,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.46,
+       0.0
+      ],
+      [
+       -0.46,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      -1.66,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.78,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      0.28,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.04,
+      0.4
+     ],
+     "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": 4.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.83,
+      -2.31
+     ],
+     [
+      -2.73,
+      -2.31
+     ],
+     [
+      -2.43,
+      -2.61
+     ],
+     [
+      -2.43,
+      -2.71
+     ],
+     [
+      -2.33,
+      -2.81
+     ],
+     [
+      -2.23,
+      -2.81
+     ],
+     [
+      -2.13,
+      -2.91
+     ],
+     [
+      -2.13,
+      -3.11
+     ],
+     [
+      -1.93,
+      -3.31
+     ],
+     [
+      -1.93,
+      -3.41
+     ],
+     [
+      -0.63,
+      -3.41
+     ],
+     [
+      -0.63,
+      -3.31
+     ],
+     [
+      -0.53,
+      -3.21
+     ],
+     [
+      -0.43,
+      -3.21
+     ],
+     [
+      -0.13,
+      -2.91
+     ],
+     [
+      -0.03,
+      -2.91
+     ],
+     [
+      0.17,
+      -2.71
+     ],
+     [
+      0.27,
+      -2.71
+     ],
+     [
+      0.57,
+      -2.41
+     ],
+     [
+      0.67,
+      -2.41
+     ],
+     [
+      1.07,
+      -2.01
+     ],
+     [
+      1.17,
+      -2.01
+     ],
+     [
+      1.37,
+      -1.81
+     ],
+     [
+      1.47,
+      -1.81
+     ],
+     [
+      1.47,
+      -0.91
+     ],
+     [
+      1.37,
+      -0.91
+     ],
+     [
+      1.27,
+      -0.81
+     ],
+     [
+      1.27,
+      -0.71
+     ],
+     [
+      1.07,
+      -0.71
+     ],
+     [
+      0.97,
+      -0.61
+     ],
+     [
+      0.97,
+      -0.51
+     ],
+     [
+      0.87,
+      -0.41
+     ],
+     [
+      0.87,
+      -0.11
+     ],
+     [
+      0.77,
+      -0.01
+     ],
+     [
+      0.77,
+      0.19
+     ],
+     [
+      0.87,
+      0.29
+     ],
+     [
+      1.07,
+      0.29
+     ],
+     [
+      1.17,
+      0.39
+     ],
+     [
+      1.27,
+      0.39
+     ],
+     [
+      1.37,
+      0.49
+     ],
+     [
+      1.47,
+      0.49
+     ],
+     [
+      1.47,
+      1.49
+     ],
+     [
+      -0.13,
+      1.49
+     ],
+     [
+      -0.13,
+      1.19
+     ],
+     [
+      -0.23,
+      1.09
+     ],
+     [
+      -0.53,
+      1.09
+     ],
+     [
+      -0.83,
+      0.79
+     ],
+     [
+      -0.93,
+      0.79
+     ],
+     [
+      -1.03,
+      0.69
+     ],
+     [
+      -1.23,
+      0.69
+     ],
+     [
+      -1.53,
+      0.39
+     ],
+     [
+      -1.73,
+      0.39
+     ],
+     [
+      -2.13,
+      -0.01
+     ],
+     [
+      -2.13,
+      -0.11
+     ],
+     [
+      -2.23,
+      -0.21
+     ],
+     [
+      -2.33,
+      -0.21
+     ],
+     [
+      -2.53,
+      -0.41
+     ],
+     [
+      -2.53,
+      -0.91
+     ],
+     [
+      -2.63,
+      -1.01
+     ],
+     [
+      -2.83,
+      -1.01
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41069048.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41069048.json
new file mode 100644
index 0000000000000000000000000000000000000000..86ac5d93641b546aad20ced23c19ddd283258602
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41069048.json	
@@ -0,0 +1,398 @@
+{
+ "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": [
+      0.86,
+      0.15,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      0.64,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      -0.66,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.07,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      -0.99,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.32,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      0.35,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.38,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.16,
+       0.0
+      ],
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.49,
+      -0.4
+     ],
+     [
+      -1.19,
+      -0.4
+     ],
+     [
+      -1.09,
+      -0.5
+     ],
+     [
+      -1.09,
+      -0.8
+     ],
+     [
+      -0.89,
+      -1.0
+     ],
+     [
+      -0.89,
+      -1.1
+     ],
+     [
+      -0.79,
+      -1.2
+     ],
+     [
+      -0.79,
+      -1.3
+     ],
+     [
+      -0.69,
+      -1.4
+     ],
+     [
+      -0.69,
+      -1.6
+     ],
+     [
+      0.81,
+      -1.6
+     ],
+     [
+      0.81,
+      -1.5
+     ],
+     [
+      1.11,
+      -1.2
+     ],
+     [
+      1.21,
+      -1.2
+     ],
+     [
+      1.31,
+      -1.1
+     ],
+     [
+      1.41,
+      -1.1
+     ],
+     [
+      1.41,
+      1.0
+     ],
+     [
+      1.31,
+      1.0
+     ],
+     [
+      1.21,
+      1.1
+     ],
+     [
+      1.21,
+      1.2
+     ],
+     [
+      1.11,
+      1.3
+     ],
+     [
+      1.11,
+      1.8
+     ],
+     [
+      1.01,
+      1.9
+     ],
+     [
+      1.01,
+      2.2
+     ],
+     [
+      0.01,
+      2.2
+     ],
+     [
+      0.01,
+      1.4
+     ],
+     [
+      -0.09,
+      1.3
+     ],
+     [
+      -0.39,
+      1.3
+     ],
+     [
+      -0.39,
+      1.2
+     ],
+     [
+      -0.49,
+      1.1
+     ],
+     [
+      -0.49,
+      0.9
+     ],
+     [
+      -0.59,
+      0.8
+     ],
+     [
+      -0.69,
+      0.8
+     ],
+     [
+      -0.79,
+      0.7
+     ],
+     [
+      -0.99,
+      0.7
+     ],
+     [
+      -1.09,
+      0.6
+     ],
+     [
+      -1.09,
+      0.5
+     ],
+     [
+      -1.19,
+      0.4
+     ],
+     [
+      -1.29,
+      0.4
+     ],
+     [
+      -1.39,
+      0.3
+     ],
+     [
+      -1.49,
+      0.3
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41125700.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41125700.json
new file mode 100644
index 0000000000000000000000000000000000000000..60187946a2527b167777cdc7760131911cb1adf6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41125700.json	
@@ -0,0 +1,1040 @@
+{
+ "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": [
+      -1.33,
+      -2.2,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.36,
+      1.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.67,
+      -2.82,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.23,
+      1.02
+     ],
+     "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": 0.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.75,
+      -3.13,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.96,
+      0.99,
+      0.55
+     ],
+     "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": 3.0
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      -0.3,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.44,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.78,
+      -2.98,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      1.79,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.79,
+      -2.85,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.06,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.37,
+      -15.43
+     ],
+     [
+      0.13,
+      -15.43
+     ],
+     [
+      0.13,
+      -11.53
+     ],
+     [
+      -0.07,
+      -11.53
+     ],
+     [
+      -0.17,
+      -11.43
+     ],
+     [
+      -0.17,
+      -9.03
+     ],
+     [
+      -0.27,
+      -9.03
+     ],
+     [
+      -0.37,
+      -8.93
+     ],
+     [
+      -0.37,
+      -8.83
+     ],
+     [
+      -0.77,
+      -8.83
+     ],
+     [
+      -0.77,
+      -9.13
+     ],
+     [
+      -0.87,
+      -9.23
+     ],
+     [
+      -1.07,
+      -9.23
+     ],
+     [
+      -1.17,
+      -9.13
+     ],
+     [
+      -1.17,
+      -8.23
+     ],
+     [
+      -1.07,
+      -8.13
+     ],
+     [
+      -0.37,
+      -8.13
+     ],
+     [
+      -0.37,
+      -7.33
+     ],
+     [
+      -0.27,
+      -7.23
+     ],
+     [
+      -0.17,
+      -7.23
+     ],
+     [
+      -0.17,
+      -7.03
+     ],
+     [
+      -0.07,
+      -6.93
+     ],
+     [
+      0.43,
+      -6.93
+     ],
+     [
+      0.53,
+      -6.83
+     ],
+     [
+      0.73,
+      -6.83
+     ],
+     [
+      0.83,
+      -6.93
+     ],
+     [
+      0.83,
+      -7.43
+     ],
+     [
+      1.23,
+      -7.43
+     ],
+     [
+      1.33,
+      -7.53
+     ],
+     [
+      1.33,
+      -7.83
+     ],
+     [
+      1.23,
+      -7.93
+     ],
+     [
+      1.13,
+      -7.93
+     ],
+     [
+      1.13,
+      -8.13
+     ],
+     [
+      1.03,
+      -8.23
+     ],
+     [
+      0.03,
+      -8.23
+     ],
+     [
+      0.03,
+      -8.63
+     ],
+     [
+      0.13,
+      -8.73
+     ],
+     [
+      0.13,
+      -9.33
+     ],
+     [
+      0.23,
+      -9.43
+     ],
+     [
+      0.23,
+      -10.13
+     ],
+     [
+      0.33,
+      -10.23
+     ],
+     [
+      0.33,
+      -10.83
+     ],
+     [
+      0.43,
+      -10.93
+     ],
+     [
+      0.43,
+      -11.53
+     ],
+     [
+      0.53,
+      -11.63
+     ],
+     [
+      0.53,
+      -12.23
+     ],
+     [
+      0.63,
+      -12.33
+     ],
+     [
+      0.63,
+      -12.53
+     ],
+     [
+      0.73,
+      -12.53
+     ],
+     [
+      0.83,
+      -12.63
+     ],
+     [
+      0.83,
+      -12.73
+     ],
+     [
+      0.93,
+      -12.83
+     ],
+     [
+      0.93,
+      -13.13
+     ],
+     [
+      1.03,
+      -13.23
+     ],
+     [
+      1.03,
+      -13.93
+     ],
+     [
+      1.13,
+      -14.03
+     ],
+     [
+      1.13,
+      -14.73
+     ],
+     [
+      1.23,
+      -14.83
+     ],
+     [
+      1.23,
+      -14.93
+     ],
+     [
+      1.33,
+      -14.93
+     ],
+     [
+      1.43,
+      -15.03
+     ],
+     [
+      1.43,
+      -15.43
+     ],
+     [
+      3.63,
+      -15.43
+     ],
+     [
+      3.63,
+      -15.33
+     ],
+     [
+      3.73,
+      -15.23
+     ],
+     [
+      3.83,
+      -15.23
+     ],
+     [
+      3.93,
+      -15.13
+     ],
+     [
+      4.13,
+      -15.13
+     ],
+     [
+      4.13,
+      -13.63
+     ],
+     [
+      4.03,
+      -13.63
+     ],
+     [
+      3.93,
+      -13.53
+     ],
+     [
+      3.93,
+      -12.93
+     ],
+     [
+      3.83,
+      -12.83
+     ],
+     [
+      3.83,
+      -12.73
+     ],
+     [
+      3.73,
+      -12.63
+     ],
+     [
+      3.73,
+      -12.53
+     ],
+     [
+      3.63,
+      -12.43
+     ],
+     [
+      3.63,
+      -12.23
+     ],
+     [
+      3.53,
+      -12.13
+     ],
+     [
+      3.53,
+      -11.93
+     ],
+     [
+      3.63,
+      -11.83
+     ],
+     [
+      4.13,
+      -11.83
+     ],
+     [
+      4.13,
+      -9.93
+     ],
+     [
+      4.03,
+      -9.93
+     ],
+     [
+      3.93,
+      -9.83
+     ],
+     [
+      3.83,
+      -9.83
+     ],
+     [
+      3.73,
+      -9.73
+     ],
+     [
+      3.73,
+      -9.33
+     ],
+     [
+      3.63,
+      -9.23
+     ],
+     [
+      3.63,
+      -9.13
+     ],
+     [
+      3.53,
+      -9.13
+     ],
+     [
+      3.43,
+      -9.03
+     ],
+     [
+      3.43,
+      -8.83
+     ],
+     [
+      3.33,
+      -8.73
+     ],
+     [
+      3.33,
+      -8.63
+     ],
+     [
+      3.23,
+      -8.53
+     ],
+     [
+      3.23,
+      -8.43
+     ],
+     [
+      3.13,
+      -8.43
+     ],
+     [
+      3.03,
+      -8.33
+     ],
+     [
+      3.03,
+      -8.23
+     ],
+     [
+      2.93,
+      -8.23
+     ],
+     [
+      2.73,
+      -8.03
+     ],
+     [
+      2.73,
+      -7.83
+     ],
+     [
+      2.43,
+      -7.83
+     ],
+     [
+      2.33,
+      -7.73
+     ],
+     [
+      2.33,
+      -7.63
+     ],
+     [
+      2.23,
+      -7.63
+     ],
+     [
+      2.13,
+      -7.53
+     ],
+     [
+      2.13,
+      -7.03
+     ],
+     [
+      2.03,
+      -7.03
+     ],
+     [
+      1.83,
+      -6.83
+     ],
+     [
+      1.83,
+      -6.33
+     ],
+     [
+      1.73,
+      -6.33
+     ],
+     [
+      1.63,
+      -6.23
+     ],
+     [
+      1.63,
+      -6.03
+     ],
+     [
+      1.53,
+      -5.93
+     ],
+     [
+      1.53,
+      -5.83
+     ],
+     [
+      1.43,
+      -5.73
+     ],
+     [
+      1.33,
+      -5.73
+     ],
+     [
+      1.23,
+      -5.63
+     ],
+     [
+      1.23,
+      -5.33
+     ],
+     [
+      1.33,
+      -5.23
+     ],
+     [
+      2.93,
+      -5.23
+     ],
+     [
+      2.93,
+      -5.13
+     ],
+     [
+      3.03,
+      -5.03
+     ],
+     [
+      3.03,
+      -4.93
+     ],
+     [
+      3.13,
+      -4.83
+     ],
+     [
+      3.23,
+      -4.83
+     ],
+     [
+      3.23,
+      -4.53
+     ],
+     [
+      3.33,
+      -4.43
+     ],
+     [
+      3.33,
+      -3.23
+     ],
+     [
+      3.23,
+      -3.13
+     ],
+     [
+      3.23,
+      -1.83
+     ],
+     [
+      3.43,
+      -1.63
+     ],
+     [
+      3.73,
+      -1.63
+     ],
+     [
+      3.73,
+      -1.13
+     ],
+     [
+      3.63,
+      -1.03
+     ],
+     [
+      3.63,
+      0.37
+     ],
+     [
+      1.23,
+      0.37
+     ],
+     [
+      1.23,
+      0.27
+     ],
+     [
+      1.13,
+      0.17
+     ],
+     [
+      0.53,
+      0.17
+     ],
+     [
+      0.43,
+      0.27
+     ],
+     [
+      0.43,
+      0.37
+     ],
+     [
+      -0.57,
+      0.37
+     ],
+     [
+      -0.57,
+      -0.23
+     ],
+     [
+      -0.77,
+      -0.43
+     ],
+     [
+      -0.87,
+      -0.43
+     ],
+     [
+      -1.07,
+      -0.63
+     ],
+     [
+      -1.07,
+      -0.93
+     ],
+     [
+      -1.17,
+      -1.03
+     ],
+     [
+      -1.77,
+      -1.03
+     ],
+     [
+      -1.87,
+      -1.13
+     ],
+     [
+      -2.37,
+      -1.13
+     ],
+     [
+      -2.37,
+      -5.23
+     ],
+     [
+      -1.77,
+      -5.23
+     ],
+     [
+      -1.67,
+      -5.33
+     ],
+     [
+      -1.67,
+      -5.83
+     ],
+     [
+      -1.37,
+      -5.83
+     ],
+     [
+      -1.27,
+      -5.93
+     ],
+     [
+      -1.27,
+      -6.43
+     ],
+     [
+      -1.17,
+      -6.53
+     ],
+     [
+      -1.17,
+      -7.03
+     ],
+     [
+      -1.27,
+      -7.13
+     ],
+     [
+      -1.37,
+      -7.13
+     ],
+     [
+      -1.37,
+      -7.43
+     ],
+     [
+      -1.47,
+      -7.53
+     ],
+     [
+      -1.47,
+      -7.83
+     ],
+     [
+      -1.57,
+      -7.93
+     ],
+     [
+      -1.57,
+      -8.33
+     ],
+     [
+      -1.67,
+      -8.43
+     ],
+     [
+      -1.67,
+      -8.63
+     ],
+     [
+      -1.77,
+      -8.73
+     ],
+     [
+      -1.77,
+      -8.93
+     ],
+     [
+      -1.87,
+      -9.03
+     ],
+     [
+      -1.87,
+      -9.43
+     ],
+     [
+      -1.97,
+      -9.53
+     ],
+     [
+      -1.97,
+      -10.13
+     ],
+     [
+      -2.07,
+      -10.23
+     ],
+     [
+      -2.07,
+      -10.53
+     ],
+     [
+      -2.17,
+      -10.63
+     ],
+     [
+      -2.17,
+      -10.83
+     ],
+     [
+      -2.27,
+      -10.93
+     ],
+     [
+      -2.37,
+      -10.93
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41125731.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..b505a688487e0c9e6c2fecd94f4efe7681570417
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41125731.json	
@@ -0,0 +1,580 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      -1.67,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      2.14,
+      1.12,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.43,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.58,
+      -0.47,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      1.85,
+      1.34,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.71,
+      -1.93
+     ],
+     [
+      -3.51,
+      -1.93
+     ],
+     [
+      -3.41,
+      -2.03
+     ],
+     [
+      -3.21,
+      -2.03
+     ],
+     [
+      -3.11,
+      -2.13
+     ],
+     [
+      -2.91,
+      -2.13
+     ],
+     [
+      -2.81,
+      -2.23
+     ],
+     [
+      -2.71,
+      -2.23
+     ],
+     [
+      -2.61,
+      -2.33
+     ],
+     [
+      -2.51,
+      -2.33
+     ],
+     [
+      -2.41,
+      -2.43
+     ],
+     [
+      -2.31,
+      -2.43
+     ],
+     [
+      -2.21,
+      -2.53
+     ],
+     [
+      -1.81,
+      -2.53
+     ],
+     [
+      -1.71,
+      -2.63
+     ],
+     [
+      -1.51,
+      -2.63
+     ],
+     [
+      -1.41,
+      -2.73
+     ],
+     [
+      -1.21,
+      -2.73
+     ],
+     [
+      -1.11,
+      -2.83
+     ],
+     [
+      -1.01,
+      -2.83
+     ],
+     [
+      -0.91,
+      -2.93
+     ],
+     [
+      -0.81,
+      -2.93
+     ],
+     [
+      -0.71,
+      -3.03
+     ],
+     [
+      -0.51,
+      -3.03
+     ],
+     [
+      -0.41,
+      -3.13
+     ],
+     [
+      -0.21,
+      -3.13
+     ],
+     [
+      -0.11,
+      -3.23
+     ],
+     [
+      -0.11,
+      -3.33
+     ],
+     [
+      1.79,
+      -3.33
+     ],
+     [
+      1.79,
+      -3.13
+     ],
+     [
+      1.89,
+      -3.03
+     ],
+     [
+      1.89,
+      -2.93
+     ],
+     [
+      1.99,
+      -2.83
+     ],
+     [
+      1.99,
+      -2.53
+     ],
+     [
+      2.09,
+      -2.43
+     ],
+     [
+      2.09,
+      -2.33
+     ],
+     [
+      2.19,
+      -2.23
+     ],
+     [
+      2.29,
+      -2.23
+     ],
+     [
+      2.29,
+      -1.03
+     ],
+     [
+      2.19,
+      -1.03
+     ],
+     [
+      2.09,
+      -0.93
+     ],
+     [
+      1.99,
+      -0.93
+     ],
+     [
+      1.89,
+      -0.83
+     ],
+     [
+      1.69,
+      -0.83
+     ],
+     [
+      1.59,
+      -0.73
+     ],
+     [
+      1.39,
+      -0.73
+     ],
+     [
+      1.29,
+      -0.63
+     ],
+     [
+      1.19,
+      -0.63
+     ],
+     [
+      1.09,
+      -0.53
+     ],
+     [
+      1.09,
+      0.07
+     ],
+     [
+      1.19,
+      0.17
+     ],
+     [
+      1.19,
+      0.27
+     ],
+     [
+      1.29,
+      0.37
+     ],
+     [
+      1.39,
+      0.37
+     ],
+     [
+      1.59,
+      0.57
+     ],
+     [
+      1.59,
+      0.67
+     ],
+     [
+      1.79,
+      0.87
+     ],
+     [
+      1.79,
+      0.97
+     ],
+     [
+      1.89,
+      1.07
+     ],
+     [
+      1.89,
+      1.47
+     ],
+     [
+      1.79,
+      1.57
+     ],
+     [
+      1.79,
+      1.77
+     ],
+     [
+      1.69,
+      1.77
+     ],
+     [
+      1.59,
+      1.87
+     ],
+     [
+      1.59,
+      1.97
+     ],
+     [
+      0.39,
+      1.97
+     ],
+     [
+      0.39,
+      1.87
+     ],
+     [
+      0.29,
+      1.77
+     ],
+     [
+      0.29,
+      1.47
+     ],
+     [
+      0.09,
+      1.27
+     ],
+     [
+      -0.31,
+      1.27
+     ],
+     [
+      -0.41,
+      1.37
+     ],
+     [
+      -0.51,
+      1.37
+     ],
+     [
+      -0.61,
+      1.47
+     ],
+     [
+      -0.81,
+      1.47
+     ],
+     [
+      -0.91,
+      1.57
+     ],
+     [
+      -1.01,
+      1.57
+     ],
+     [
+      -1.11,
+      1.67
+     ],
+     [
+      -1.31,
+      1.67
+     ],
+     [
+      -1.41,
+      1.77
+     ],
+     [
+      -1.51,
+      1.77
+     ],
+     [
+      -1.61,
+      1.87
+     ],
+     [
+      -1.61,
+      1.97
+     ],
+     [
+      -2.11,
+      1.97
+     ],
+     [
+      -2.11,
+      1.77
+     ],
+     [
+      -2.21,
+      1.67
+     ],
+     [
+      -2.21,
+      1.57
+     ],
+     [
+      -2.31,
+      1.47
+     ],
+     [
+      -2.31,
+      1.37
+     ],
+     [
+      -2.41,
+      1.27
+     ],
+     [
+      -2.91,
+      1.27
+     ],
+     [
+      -3.01,
+      1.17
+     ],
+     [
+      -3.01,
+      1.07
+     ],
+     [
+      -3.11,
+      0.97
+     ],
+     [
+      -3.11,
+      0.77
+     ],
+     [
+      -3.21,
+      0.67
+     ],
+     [
+      -3.21,
+      0.57
+     ],
+     [
+      -3.31,
+      0.47
+     ],
+     [
+      -3.31,
+      0.17
+     ],
+     [
+      -3.51,
+      -0.03
+     ],
+     [
+      -3.51,
+      -0.33
+     ],
+     [
+      -3.61,
+      -0.43
+     ],
+     [
+      -3.71,
+      -0.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41125760.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41125760.json
new file mode 100644
index 0000000000000000000000000000000000000000..0daeec54e7e0ccee61e4dd011c5a05c39ae211a5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41125760.json	
@@ -0,0 +1,242 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.61,
+      1.13,
+      -2.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      1.03,
+      0.38
+     ],
+     "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": 1.83
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.24,
+      0.69,
+      -1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.16,
+      1.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.99,
+      -0.07
+     ],
+     [
+      -0.99,
+      -0.07
+     ],
+     [
+      -0.89,
+      -0.17
+     ],
+     [
+      -0.89,
+      -0.97
+     ],
+     [
+      -0.79,
+      -1.07
+     ],
+     [
+      -0.79,
+      -1.17
+     ],
+     [
+      -0.39,
+      -1.17
+     ],
+     [
+      -0.39,
+      -0.97
+     ],
+     [
+      -0.29,
+      -0.87
+     ],
+     [
+      0.11,
+      -0.87
+     ],
+     [
+      0.21,
+      -0.97
+     ],
+     [
+      0.21,
+      -1.17
+     ],
+     [
+      0.61,
+      -1.17
+     ],
+     [
+      0.61,
+      1.83
+     ],
+     [
+      0.41,
+      1.83
+     ],
+     [
+      0.31,
+      1.93
+     ],
+     [
+      0.31,
+      2.03
+     ],
+     [
+      -1.99,
+      2.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41142280.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..40c06c88d4419ac8c393ddf488779f6871742d4b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41142280.json	
@@ -0,0 +1,351 @@
+{
+ "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": [
+      -1.19,
+      0.98,
+      -1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.35,
+      1.26
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.67,
+      1.1,
+      -0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.09,
+      1.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.21,
+      0.87,
+      -2.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.3,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.14,
+      0.69,
+      -3.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.77,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      0.78,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.3,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      3.55,
+      0.64
+     ],
+     [
+      3.65,
+      0.54
+     ],
+     [
+      3.65,
+      0.04
+     ],
+     [
+      4.45,
+      0.04
+     ],
+     [
+      4.45,
+      1.24
+     ],
+     [
+      3.75,
+      1.24
+     ],
+     [
+      3.75,
+      1.14
+     ],
+     [
+      3.65,
+      1.04
+     ],
+     [
+      3.55,
+      1.04
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -1.65,
+      -1.16
+     ],
+     [
+      1.05,
+      -1.16
+     ],
+     [
+      1.05,
+      -0.56
+     ],
+     [
+      0.95,
+      -0.46
+     ],
+     [
+      0.95,
+      -0.16
+     ],
+     [
+      1.05,
+      -0.06
+     ],
+     [
+      1.05,
+      0.64
+     ],
+     [
+      0.95,
+      0.74
+     ],
+     [
+      0.95,
+      1.44
+     ],
+     [
+      -1.65,
+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159504.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159504.json
new file mode 100644
index 0000000000000000000000000000000000000000..03d4e03bd0859a84d84085d96a13558c34ba3397
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159504.json	
@@ -0,0 +1,798 @@
+{
+ "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": [
+      0.54,
+      -0.33,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.88,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.76,
+      -0.26,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.95,
+      0.4,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      -0.34,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      0.73,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       0.55,
+       0.0
+      ],
+      [
+       -0.55,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.93,
+      -0.9,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      1.67,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      -1.16,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.26,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      1.22,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.35,
+      0.68
+     ],
+     "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": 4.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.24,
+      1.56,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.32,
+      0.8
+     ],
+     "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": 0.17
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      0.82,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.4,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.17,
+      -1.04
+     ],
+     [
+      -4.07,
+      -1.14
+     ],
+     [
+      -4.07,
+      -1.44
+     ],
+     [
+      -3.97,
+      -1.54
+     ],
+     [
+      -3.97,
+      -2.34
+     ],
+     [
+      -3.77,
+      -2.34
+     ],
+     [
+      -3.67,
+      -2.44
+     ],
+     [
+      -3.67,
+      -2.54
+     ],
+     [
+      -2.57,
+      -2.54
+     ],
+     [
+      -2.57,
+      -2.44
+     ],
+     [
+      -2.27,
+      -2.14
+     ],
+     [
+      -2.17,
+      -2.14
+     ],
+     [
+      -2.07,
+      -2.04
+     ],
+     [
+      -1.97,
+      -2.04
+     ],
+     [
+      -1.97,
+      -1.94
+     ],
+     [
+      -1.57,
+      -1.54
+     ],
+     [
+      -1.57,
+      -1.14
+     ],
+     [
+      -1.47,
+      -1.04
+     ],
+     [
+      -1.27,
+      -1.04
+     ],
+     [
+      -0.97,
+      -1.34
+     ],
+     [
+      -0.97,
+      -1.64
+     ],
+     [
+      -0.07,
+      -1.64
+     ],
+     [
+      0.03,
+      -1.54
+     ],
+     [
+      0.23,
+      -1.54
+     ],
+     [
+      0.33,
+      -1.44
+     ],
+     [
+      0.53,
+      -1.44
+     ],
+     [
+      0.73,
+      -1.24
+     ],
+     [
+      0.83,
+      -1.24
+     ],
+     [
+      0.93,
+      -1.14
+     ],
+     [
+      1.13,
+      -1.14
+     ],
+     [
+      1.23,
+      -1.04
+     ],
+     [
+      1.33,
+      -1.04
+     ],
+     [
+      1.43,
+      -0.94
+     ],
+     [
+      1.53,
+      -0.94
+     ],
+     [
+      1.63,
+      -0.84
+     ],
+     [
+      1.73,
+      -0.84
+     ],
+     [
+      1.83,
+      -0.74
+     ],
+     [
+      2.03,
+      -0.74
+     ],
+     [
+      2.13,
+      -0.64
+     ],
+     [
+      2.23,
+      -0.64
+     ],
+     [
+      2.33,
+      -0.54
+     ],
+     [
+      2.43,
+      -0.54
+     ],
+     [
+      2.53,
+      -0.44
+     ],
+     [
+      2.73,
+      -0.44
+     ],
+     [
+      2.73,
+      1.66
+     ],
+     [
+      2.63,
+      1.66
+     ],
+     [
+      2.53,
+      1.76
+     ],
+     [
+      2.53,
+      1.86
+     ],
+     [
+      2.43,
+      1.96
+     ],
+     [
+      2.43,
+      2.06
+     ],
+     [
+      2.33,
+      2.16
+     ],
+     [
+      2.33,
+      2.26
+     ],
+     [
+      1.13,
+      2.26
+     ],
+     [
+      1.13,
+      2.16
+     ],
+     [
+      1.03,
+      2.06
+     ],
+     [
+      0.83,
+      2.06
+     ],
+     [
+      0.73,
+      1.96
+     ],
+     [
+      0.53,
+      1.96
+     ],
+     [
+      0.43,
+      1.86
+     ],
+     [
+      0.33,
+      1.86
+     ],
+     [
+      0.23,
+      1.76
+     ],
+     [
+      0.13,
+      1.76
+     ],
+     [
+      0.03,
+      1.66
+     ],
+     [
+      -0.07,
+      1.66
+     ],
+     [
+      -0.17,
+      1.56
+     ],
+     [
+      -0.37,
+      1.56
+     ],
+     [
+      -0.47,
+      1.46
+     ],
+     [
+      -0.67,
+      1.46
+     ],
+     [
+      -0.77,
+      1.36
+     ],
+     [
+      -0.87,
+      1.36
+     ],
+     [
+      -0.97,
+      1.26
+     ],
+     [
+      -1.07,
+      1.26
+     ],
+     [
+      -1.27,
+      1.06
+     ],
+     [
+      -1.67,
+      1.06
+     ],
+     [
+      -1.77,
+      1.16
+     ],
+     [
+      -2.47,
+      1.16
+     ],
+     [
+      -2.47,
+      0.66
+     ],
+     [
+      -2.27,
+      0.66
+     ],
+     [
+      -2.17,
+      0.56
+     ],
+     [
+      -1.87,
+      0.56
+     ],
+     [
+      -1.77,
+      0.46
+     ],
+     [
+      -1.77,
+      0.06
+     ],
+     [
+      -1.67,
+      -0.04
+     ],
+     [
+      -1.67,
+      -0.54
+     ],
+     [
+      -1.57,
+      -0.64
+     ],
+     [
+      -1.57,
+      -1.04
+     ],
+     [
+      -1.67,
+      -1.14
+     ],
+     [
+      -1.87,
+      -1.14
+     ],
+     [
+      -1.97,
+      -1.04
+     ],
+     [
+      -1.97,
+      -0.74
+     ],
+     [
+      -2.07,
+      -0.64
+     ],
+     [
+      -2.07,
+      -0.34
+     ],
+     [
+      -2.17,
+      -0.34
+     ],
+     [
+      -2.37,
+      -0.14
+     ],
+     [
+      -2.37,
+      -0.04
+     ],
+     [
+      -2.47,
+      0.06
+     ],
+     [
+      -3.17,
+      0.06
+     ],
+     [
+      -3.27,
+      -0.04
+     ],
+     [
+      -3.37,
+      -0.04
+     ],
+     [
+      -3.47,
+      -0.14
+     ],
+     [
+      -3.57,
+      -0.14
+     ],
+     [
+      -3.57,
+      -0.24
+     ],
+     [
+      -3.77,
+      -0.44
+     ],
+     [
+      -3.97,
+      -0.44
+     ],
+     [
+      -3.97,
+      -0.54
+     ],
+     [
+      -4.07,
+      -0.64
+     ],
+     [
+      -4.17,
+      -0.64
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159525.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159525.json
new file mode 100644
index 0000000000000000000000000000000000000000..24abf9154db03c89ca709c524b1e9890c69f103e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159525.json	
@@ -0,0 +1,626 @@
+{
+ "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": [
+      -4.16,
+      -1.39,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.39,
+      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": 2.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.3,
+      -0.05,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.29,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.21,
+      -2.14,
+      -0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.51,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.42,
+      0.68,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.86,
+      1.71
+     ],
+     "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": 3.83
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      -0.31,
+      -0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.62,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.96,
+      -0.91,
+      -0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.37,
+      0.14
+     ],
+     "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": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      -1.4,
+      -0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.36,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.69,
+      0.87,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.6,
+      0.96
+     ],
+     "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": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.76,
+      -0.08,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.78,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      -0.28,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.52,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.17,
+      -0.95,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.04,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      -0.43,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      1.4,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.89,
+      -1.19
+     ],
+     [
+      -5.59,
+      -1.19
+     ],
+     [
+      -5.49,
+      -1.29
+     ],
+     [
+      -5.49,
+      -1.59
+     ],
+     [
+      -5.39,
+      -1.69
+     ],
+     [
+      -5.39,
+      -1.79
+     ],
+     [
+      -4.89,
+      -1.79
+     ],
+     [
+      -4.79,
+      -1.89
+     ],
+     [
+      -4.79,
+      -2.19
+     ],
+     [
+      -4.69,
+      -2.29
+     ],
+     [
+      -4.69,
+      -2.59
+     ],
+     [
+      -4.29,
+      -2.59
+     ],
+     [
+      -4.19,
+      -2.49
+     ],
+     [
+      -3.79,
+      -2.49
+     ],
+     [
+      -3.69,
+      -2.39
+     ],
+     [
+      -3.49,
+      -2.39
+     ],
+     [
+      -3.29,
+      -2.19
+     ],
+     [
+      -2.89,
+      -2.19
+     ],
+     [
+      -2.79,
+      -2.09
+     ],
+     [
+      -2.59,
+      -2.09
+     ],
+     [
+      -2.49,
+      -2.19
+     ],
+     [
+      -2.49,
+      -2.79
+     ],
+     [
+      -2.39,
+      -2.89
+     ],
+     [
+      -2.39,
+      -2.99
+     ],
+     [
+      1.01,
+      -2.99
+     ],
+     [
+      1.01,
+      1.21
+     ],
+     [
+      -5.29,
+      1.21
+     ],
+     [
+      -5.29,
+      1.11
+     ],
+     [
+      -5.49,
+      0.91
+     ],
+     [
+      -5.49,
+      0.81
+     ],
+     [
+      -5.59,
+      0.71
+     ],
+     [
+      -5.89,
+      0.71
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159530.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159530.json
new file mode 100644
index 0000000000000000000000000000000000000000..e94393b2b9bd5c6668c7a1425fbe0316e99ac3b4
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159530.json	
@@ -0,0 +1,432 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.3,
+      -0.9,
+      -3.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.34,
+      0.32
+     ],
+     "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": 1.83
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.52,
+      0.58,
+      -2.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.46,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.27,
+      -0.49,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.35,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.65,
+       0.0
+      ],
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.59,
+      -1.97
+     ],
+     [
+      -3.29,
+      -1.97
+     ],
+     [
+      -3.29,
+      -1.77
+     ],
+     [
+      -3.19,
+      -1.67
+     ],
+     [
+      -3.09,
+      -1.67
+     ],
+     [
+      -2.99,
+      -1.57
+     ],
+     [
+      -2.79,
+      -1.57
+     ],
+     [
+      -2.69,
+      -1.47
+     ],
+     [
+      -2.49,
+      -1.47
+     ],
+     [
+      -2.39,
+      -1.57
+     ],
+     [
+      -2.39,
+      -1.67
+     ],
+     [
+      -2.29,
+      -1.77
+     ],
+     [
+      -2.29,
+      -2.07
+     ],
+     [
+      -2.39,
+      -2.17
+     ],
+     [
+      -2.39,
+      -2.47
+     ],
+     [
+      -0.59,
+      -2.47
+     ],
+     [
+      -0.59,
+      -2.27
+     ],
+     [
+      -0.49,
+      -2.17
+     ],
+     [
+      -0.39,
+      -2.17
+     ],
+     [
+      -0.39,
+      -2.07
+     ],
+     [
+      -0.29,
+      -1.97
+     ],
+     [
+      -0.19,
+      -1.97
+     ],
+     [
+      -0.09,
+      -1.87
+     ],
+     [
+      0.01,
+      -1.87
+     ],
+     [
+      0.01,
+      -1.47
+     ],
+     [
+      0.11,
+      -1.37
+     ],
+     [
+      0.11,
+      -1.07
+     ],
+     [
+      0.31,
+      -0.87
+     ],
+     [
+      0.71,
+      -0.87
+     ],
+     [
+      0.81,
+      -0.77
+     ],
+     [
+      1.21,
+      -0.77
+     ],
+     [
+      1.21,
+      1.43
+     ],
+     [
+      1.11,
+      1.43
+     ],
+     [
+      1.01,
+      1.53
+     ],
+     [
+      1.01,
+      1.93
+     ],
+     [
+      0.91,
+      2.03
+     ],
+     [
+      0.91,
+      2.33
+     ],
+     [
+      -1.09,
+      2.33
+     ],
+     [
+      -1.09,
+      2.13
+     ],
+     [
+      -1.19,
+      2.03
+     ],
+     [
+      -2.09,
+      2.03
+     ],
+     [
+      -2.19,
+      1.93
+     ],
+     [
+      -2.49,
+      1.93
+     ],
+     [
+      -2.59,
+      1.83
+     ],
+     [
+      -2.79,
+      1.83
+     ],
+     [
+      -2.89,
+      1.73
+     ],
+     [
+      -2.89,
+      1.63
+     ],
+     [
+      -2.99,
+      1.53
+     ],
+     [
+      -2.99,
+      0.43
+     ],
+     [
+      -3.09,
+      0.33
+     ],
+     [
+      -3.09,
+      0.13
+     ],
+     [
+      -3.19,
+      0.03
+     ],
+     [
+      -3.19,
+      -0.17
+     ],
+     [
+      -3.39,
+      -0.37
+     ],
+     [
+      -3.39,
+      -0.47
+     ],
+     [
+      -3.49,
+      -0.57
+     ],
+     [
+      -3.59,
+      -0.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159541.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..12cfcc629d176038880648833bc74540a2c81c25
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159541.json	
@@ -0,0 +1,928 @@
+{
+ "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": [
+      3.34,
+      -1.09,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.88,
+      0.87,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      -0.37,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.25,
+      0.92
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      -1.44,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      1.25,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.97,
+      -2.69,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.69,
+      1.57
+     ],
+     "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": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.76,
+      0.98,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.95,
+      0.64
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.34,
+      -1.73,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.05,
+      0.31
+     ],
+     "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": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.22,
+      -2.03,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.07,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.32,
+       0.0
+      ],
+      [
+       0.32,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.48,
+      -2.1,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.06,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.82,
+      1.32,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.88,
+      0.95,
+      0.41
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.5,
+      1.37,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      0.63,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.88,
+      -0.74,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      1.51,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.42,
+       0.0
+      ],
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      -1.11,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.19,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.11,
+      -1.45,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      2.59,
+      1.05,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       -0.58,
+       0.0
+      ],
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.1,
+      -0.08,
+      -0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.44,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      -1.27,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      0.03,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.08,
+      -1.72
+     ],
+     [
+      -1.88,
+      -1.72
+     ],
+     [
+      -1.78,
+      -1.82
+     ],
+     [
+      -1.68,
+      -1.82
+     ],
+     [
+      -1.58,
+      -1.92
+     ],
+     [
+      -1.48,
+      -1.92
+     ],
+     [
+      -1.38,
+      -2.02
+     ],
+     [
+      -1.28,
+      -2.02
+     ],
+     [
+      -1.18,
+      -2.12
+     ],
+     [
+      -0.88,
+      -2.12
+     ],
+     [
+      -0.78,
+      -2.22
+     ],
+     [
+      -0.68,
+      -2.22
+     ],
+     [
+      -0.58,
+      -2.32
+     ],
+     [
+      -0.48,
+      -2.32
+     ],
+     [
+      -0.28,
+      -2.52
+     ],
+     [
+      -0.28,
+      -2.62
+     ],
+     [
+      -0.18,
+      -2.62
+     ],
+     [
+      -0.08,
+      -2.72
+     ],
+     [
+      -0.08,
+      -2.82
+     ],
+     [
+      0.42,
+      -2.82
+     ],
+     [
+      0.52,
+      -2.72
+     ],
+     [
+      0.72,
+      -2.72
+     ],
+     [
+      0.82,
+      -2.82
+     ],
+     [
+      0.92,
+      -2.82
+     ],
+     [
+      1.02,
+      -2.92
+     ],
+     [
+      1.12,
+      -2.92
+     ],
+     [
+      1.22,
+      -3.02
+     ],
+     [
+      1.42,
+      -3.02
+     ],
+     [
+      1.52,
+      -3.12
+     ],
+     [
+      1.72,
+      -3.12
+     ],
+     [
+      1.82,
+      -3.22
+     ],
+     [
+      1.92,
+      -3.22
+     ],
+     [
+      2.02,
+      -3.32
+     ],
+     [
+      2.22,
+      -3.32
+     ],
+     [
+      2.32,
+      -3.42
+     ],
+     [
+      2.52,
+      -3.42
+     ],
+     [
+      2.62,
+      -3.52
+     ],
+     [
+      2.62,
+      -3.62
+     ],
+     [
+      5.42,
+      -3.62
+     ],
+     [
+      5.42,
+      -2.62
+     ],
+     [
+      5.52,
+      -2.52
+     ],
+     [
+      5.72,
+      -2.52
+     ],
+     [
+      5.72,
+      -2.12
+     ],
+     [
+      5.52,
+      -2.12
+     ],
+     [
+      5.42,
+      -2.02
+     ],
+     [
+      5.42,
+      -0.42
+     ],
+     [
+      5.12,
+      -0.12
+     ],
+     [
+      4.92,
+      -0.12
+     ],
+     [
+      4.82,
+      -0.02
+     ],
+     [
+      4.82,
+      0.98
+     ],
+     [
+      4.72,
+      1.08
+     ],
+     [
+      4.62,
+      1.08
+     ],
+     [
+      4.52,
+      1.18
+     ],
+     [
+      3.62,
+      1.18
+     ],
+     [
+      3.52,
+      1.28
+     ],
+     [
+      3.52,
+      1.68
+     ],
+     [
+      3.42,
+      1.78
+     ],
+     [
+      3.42,
+      2.18
+     ],
+     [
+      3.52,
+      2.28
+     ],
+     [
+      3.52,
+      2.68
+     ],
+     [
+      2.12,
+      2.68
+     ],
+     [
+      2.12,
+      2.48
+     ],
+     [
+      1.82,
+      2.18
+     ],
+     [
+      1.52,
+      2.18
+     ],
+     [
+      1.42,
+      2.28
+     ],
+     [
+      1.22,
+      2.28
+     ],
+     [
+      1.12,
+      2.38
+     ],
+     [
+      1.02,
+      2.38
+     ],
+     [
+      0.92,
+      2.48
+     ],
+     [
+      0.62,
+      2.48
+     ],
+     [
+      0.52,
+      2.58
+     ],
+     [
+      0.52,
+      2.68
+     ],
+     [
+      -1.38,
+      2.68
+     ],
+     [
+      -1.38,
+      2.48
+     ],
+     [
+      -1.48,
+      2.38
+     ],
+     [
+      -1.48,
+      2.28
+     ],
+     [
+      -1.58,
+      2.18
+     ],
+     [
+      -1.58,
+      1.98
+     ],
+     [
+      -1.68,
+      1.88
+     ],
+     [
+      -1.68,
+      1.68
+     ],
+     [
+      -1.78,
+      1.58
+     ],
+     [
+      -1.78,
+      1.08
+     ],
+     [
+      -1.98,
+      0.88
+     ],
+     [
+      -2.08,
+      0.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159555.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159555.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8a25a7ff24c15b0007d7692b10a6b9a62b6dae4
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159555.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      0.17,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.77,
+      0.44,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.24,
+      -0.51,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.38,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.51,
+       0.0
+      ],
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.71,
+      -0.7,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.12,
+      0.02
+     ],
+     "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": 0.5
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      1.52,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.25,
+      0.43
+     ],
+     "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": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.56,
+      0.9
+     ],
+     [
+      -1.06,
+      0.9
+     ],
+     [
+      -0.96,
+      0.8
+     ],
+     [
+      -0.96,
+      0.3
+     ],
+     [
+      -1.06,
+      0.2
+     ],
+     [
+      -1.06,
+      -0.6
+     ],
+     [
+      -1.16,
+      -0.7
+     ],
+     [
+      -1.16,
+      -1.9
+     ],
+     [
+      -1.06,
+      -2.0
+     ],
+     [
+      -1.06,
+      -2.1
+     ],
+     [
+      -0.86,
+      -2.3
+     ],
+     [
+      -0.86,
+      -2.5
+     ],
+     [
+      3.14,
+      -2.5
+     ],
+     [
+      3.14,
+      -2.2
+     ],
+     [
+      3.24,
+      -2.1
+     ],
+     [
+      3.24,
+      -1.8
+     ],
+     [
+      3.34,
+      -1.7
+     ],
+     [
+      3.44,
+      -1.7
+     ],
+     [
+      3.44,
+      -1.1
+     ],
+     [
+      3.34,
+      -1.1
+     ],
+     [
+      3.24,
+      -1.0
+     ],
+     [
+      3.24,
+      -0.5
+     ],
+     [
+      3.34,
+      -0.4
+     ],
+     [
+      3.44,
+      -0.4
+     ],
+     [
+      3.44,
+      1.7
+     ],
+     [
+      2.74,
+      1.7
+     ],
+     [
+      2.64,
+      1.8
+     ],
+     [
+      1.74,
+      1.8
+     ],
+     [
+      1.64,
+      1.7
+     ],
+     [
+      1.64,
+      1.5
+     ],
+     [
+      1.54,
+      1.4
+     ],
+     [
+      0.94,
+      1.4
+     ],
+     [
+      0.84,
+      1.5
+     ],
+     [
+      0.84,
+      1.6
+     ],
+     [
+      0.44,
+      1.6
+     ],
+     [
+      0.34,
+      1.7
+     ],
+     [
+      0.24,
+      1.7
+     ],
+     [
+      0.04,
+      1.9
+     ],
+     [
+      0.04,
+      2.0
+     ],
+     [
+      -0.76,
+      2.0
+     ],
+     [
+      -0.76,
+      1.8
+     ],
+     [
+      -0.86,
+      1.7
+     ],
+     [
+      -0.86,
+      1.4
+     ],
+     [
+      -0.96,
+      1.3
+     ],
+     [
+      -1.56,
+      1.3
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159572.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159572.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d2a92abc832f79f14528b09a6a8ac0cc1af0668
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41159572.json	
@@ -0,0 +1,969 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.13,
+      0.5,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.98,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      0.03,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      1.0,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.55,
+      -2.0,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      0.81,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.62,
+      0.98,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.21,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.98,
+      -2.13,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      1.11,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.0,
+      0.21,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      1.58,
+      0.54
+     ],
+     "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": 3.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.84,
+      -1.21,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.98,
+      0.78,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.31,
+      -1.32,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      2.15,
+      0.8,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.43,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.06,
+      0.49,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.3,
+      0.27
+     ],
+     "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": 1.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      -0.33,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.53,
+      0.34
+     ],
+     "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": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.94,
+      -0.83
+     ],
+     [
+      -2.24,
+      -0.83
+     ],
+     [
+      -2.14,
+      -0.93
+     ],
+     [
+      -2.14,
+      -1.33
+     ],
+     [
+      -2.04,
+      -1.43
+     ],
+     [
+      -2.04,
+      -1.73
+     ],
+     [
+      -1.94,
+      -1.73
+     ],
+     [
+      -1.84,
+      -1.83
+     ],
+     [
+      -1.64,
+      -1.83
+     ],
+     [
+      -1.54,
+      -1.93
+     ],
+     [
+      -1.34,
+      -1.93
+     ],
+     [
+      -1.24,
+      -2.03
+     ],
+     [
+      -1.24,
+      -2.13
+     ],
+     [
+      -1.04,
+      -2.33
+     ],
+     [
+      -0.84,
+      -2.33
+     ],
+     [
+      -0.74,
+      -2.43
+     ],
+     [
+      -0.44,
+      -2.43
+     ],
+     [
+      -0.34,
+      -2.53
+     ],
+     [
+      -0.24,
+      -2.53
+     ],
+     [
+      -0.14,
+      -2.63
+     ],
+     [
+      0.06,
+      -2.63
+     ],
+     [
+      0.16,
+      -2.73
+     ],
+     [
+      0.36,
+      -2.73
+     ],
+     [
+      0.46,
+      -2.83
+     ],
+     [
+      1.06,
+      -2.83
+     ],
+     [
+      1.16,
+      -2.93
+     ],
+     [
+      1.46,
+      -2.93
+     ],
+     [
+      1.56,
+      -3.03
+     ],
+     [
+      1.76,
+      -3.03
+     ],
+     [
+      1.86,
+      -3.13
+     ],
+     [
+      2.06,
+      -3.13
+     ],
+     [
+      2.16,
+      -3.23
+     ],
+     [
+      2.56,
+      -3.23
+     ],
+     [
+      2.66,
+      -3.33
+     ],
+     [
+      2.76,
+      -3.33
+     ],
+     [
+      2.86,
+      -3.43
+     ],
+     [
+      2.96,
+      -3.43
+     ],
+     [
+      3.06,
+      -3.53
+     ],
+     [
+      3.06,
+      -3.63
+     ],
+     [
+      3.16,
+      -3.73
+     ],
+     [
+      3.16,
+      -3.83
+     ],
+     [
+      3.26,
+      -3.93
+     ],
+     [
+      3.26,
+      -4.13
+     ],
+     [
+      3.76,
+      -4.13
+     ],
+     [
+      3.86,
+      -4.23
+     ],
+     [
+      3.86,
+      -4.53
+     ],
+     [
+      5.06,
+      -4.53
+     ],
+     [
+      5.06,
+      -4.43
+     ],
+     [
+      5.36,
+      -4.13
+     ],
+     [
+      5.56,
+      -4.13
+     ],
+     [
+      5.66,
+      -4.23
+     ],
+     [
+      5.76,
+      -4.23
+     ],
+     [
+      5.86,
+      -4.33
+     ],
+     [
+      5.86,
+      -4.53
+     ],
+     [
+      6.96,
+      -4.53
+     ],
+     [
+      6.96,
+      -4.43
+     ],
+     [
+      7.06,
+      -4.33
+     ],
+     [
+      7.16,
+      -4.33
+     ],
+     [
+      7.26,
+      -4.23
+     ],
+     [
+      7.36,
+      -4.23
+     ],
+     [
+      7.46,
+      -4.13
+     ],
+     [
+      7.56,
+      -4.13
+     ],
+     [
+      7.76,
+      -3.93
+     ],
+     [
+      7.96,
+      -3.93
+     ],
+     [
+      7.96,
+      -2.33
+     ],
+     [
+      7.66,
+      -2.33
+     ],
+     [
+      7.56,
+      -2.23
+     ],
+     [
+      7.56,
+      -2.13
+     ],
+     [
+      7.16,
+      -2.13
+     ],
+     [
+      7.06,
+      -2.03
+     ],
+     [
+      6.86,
+      -2.03
+     ],
+     [
+      6.76,
+      -1.93
+     ],
+     [
+      6.76,
+      -1.83
+     ],
+     [
+      6.46,
+      -1.83
+     ],
+     [
+      6.36,
+      -1.73
+     ],
+     [
+      5.96,
+      -1.73
+     ],
+     [
+      5.76,
+      -1.53
+     ],
+     [
+      5.66,
+      -1.53
+     ],
+     [
+      5.56,
+      -1.43
+     ],
+     [
+      5.56,
+      -1.23
+     ],
+     [
+      5.26,
+      -1.23
+     ],
+     [
+      5.16,
+      -1.13
+     ],
+     [
+      5.16,
+      -0.83
+     ],
+     [
+      5.26,
+      -0.73
+     ],
+     [
+      5.26,
+      0.07
+     ],
+     [
+      4.56,
+      0.07
+     ],
+     [
+      4.46,
+      0.17
+     ],
+     [
+      4.46,
+      0.47
+     ],
+     [
+      4.56,
+      0.57
+     ],
+     [
+      4.56,
+      0.97
+     ],
+     [
+      4.46,
+      0.97
+     ],
+     [
+      4.36,
+      1.07
+     ],
+     [
+      4.06,
+      1.07
+     ],
+     [
+      3.96,
+      1.17
+     ],
+     [
+      3.66,
+      1.17
+     ],
+     [
+      3.56,
+      1.27
+     ],
+     [
+      3.36,
+      1.27
+     ],
+     [
+      3.26,
+      1.37
+     ],
+     [
+      2.96,
+      1.37
+     ],
+     [
+      2.86,
+      1.47
+     ],
+     [
+      1.66,
+      1.47
+     ],
+     [
+      1.56,
+      1.57
+     ],
+     [
+      1.56,
+      1.77
+     ],
+     [
+      1.46,
+      1.87
+     ],
+     [
+      1.26,
+      1.87
+     ],
+     [
+      1.16,
+      1.97
+     ],
+     [
+      0.36,
+      1.97
+     ],
+     [
+      0.26,
+      2.07
+     ],
+     [
+      -0.04,
+      2.07
+     ],
+     [
+      -0.14,
+      2.17
+     ],
+     [
+      -0.14,
+      2.37
+     ],
+     [
+      -2.54,
+      2.37
+     ],
+     [
+      -2.54,
+      2.07
+     ],
+     [
+      -2.64,
+      1.97
+     ],
+     [
+      -2.64,
+      1.77
+     ],
+     [
+      -2.74,
+      1.67
+     ],
+     [
+      -2.74,
+      1.37
+     ],
+     [
+      -2.84,
+      1.27
+     ],
+     [
+      -2.94,
+      1.27
+     ]
+    ],
+    "interior hole boundary coordinates": [
+     [
+      [
+       3.76,
+       -3.73
+      ],
+      [
+       3.66,
+       -3.63
+      ],
+      [
+       3.66,
+       -3.43
+      ],
+      [
+       3.76,
+       -3.33
+      ],
+      [
+       4.06,
+       -3.33
+      ],
+      [
+       4.16,
+       -3.43
+      ],
+      [
+       4.26,
+       -3.43
+      ],
+      [
+       4.36,
+       -3.53
+      ],
+      [
+       4.36,
+       -3.73
+      ],
+      [
+       4.26,
+       -3.83
+      ],
+      [
+       4.26,
+       -3.93
+      ],
+      [
+       4.06,
+       -4.13
+      ],
+      [
+       3.86,
+       -4.13
+      ],
+      [
+       3.76,
+       -4.03
+      ]
+     ]
+    ]
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254246.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254246.json
new file mode 100644
index 0000000000000000000000000000000000000000..967cb7c1c6c6094770b43af40d10da2222506869
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254246.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": [
+      -0.35,
+      1.07,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.44,
+      1.68
+     ],
+     "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": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      1.23,
+      1.46
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.1,
+      1.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.25,
+      -0.61
+     ],
+     [
+      1.25,
+      -0.61
+     ],
+     [
+      1.25,
+      1.79
+     ],
+     [
+      -3.25,
+      1.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254386.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254386.json
new file mode 100644
index 0000000000000000000000000000000000000000..57781f672695746a2f37432aa77b450cb3f847f8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254386.json	
@@ -0,0 +1,302 @@
+{
+ "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": [
+      -0.41,
+      -0.99,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.5,
+      0.59,
+      0.38
+     ],
+     "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": 0.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.41,
+      -0.48,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.25,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.1,
+      -0.38,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.28,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.28,
+       0.0
+      ],
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.05,
+      -1.89
+     ],
+     [
+      -0.25,
+      -1.89
+     ],
+     [
+      -0.25,
+      -1.79
+     ],
+     [
+      0.55,
+      -0.99
+     ],
+     [
+      0.65,
+      -0.99
+     ],
+     [
+      0.85,
+      -0.79
+     ],
+     [
+      0.95,
+      -0.79
+     ],
+     [
+      0.95,
+      0.21
+     ],
+     [
+      0.75,
+      0.21
+     ],
+     [
+      0.65,
+      0.31
+     ],
+     [
+      0.65,
+      0.71
+     ],
+     [
+      0.35,
+      1.01
+     ],
+     [
+      0.35,
+      1.11
+     ],
+     [
+      -0.65,
+      1.11
+     ],
+     [
+      -0.65,
+      1.01
+     ],
+     [
+      -0.85,
+      0.81
+     ],
+     [
+      -0.85,
+      0.71
+     ],
+     [
+      -0.95,
+      0.61
+     ],
+     [
+      -1.05,
+      0.61
+     ],
+     [
+      -1.25,
+      0.41
+     ],
+     [
+      -1.35,
+      0.41
+     ],
+     [
+      -1.45,
+      0.31
+     ],
+     [
+      -1.55,
+      0.31
+     ],
+     [
+      -1.95,
+      -0.09
+     ],
+     [
+      -2.05,
+      -0.09
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254402.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254402.json
new file mode 100644
index 0000000000000000000000000000000000000000..54d084e0d03680bf5fa303abf6324502e2094da8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254402.json	
@@ -0,0 +1,458 @@
+{
+ "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,
+      -0.44,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      1.5,
+      0.64,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      -0.07,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      1.45,
+      0.39
+     ],
+     "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": 5.0
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      -0.65,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      1.37,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      -0.88,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.09,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.45,
+      -0.96
+     ],
+     [
+      -1.25,
+      -0.96
+     ],
+     [
+      -1.15,
+      -1.06
+     ],
+     [
+      -1.15,
+      -1.16
+     ],
+     [
+      -0.95,
+      -1.16
+     ],
+     [
+      -0.85,
+      -1.26
+     ],
+     [
+      -0.75,
+      -1.26
+     ],
+     [
+      -0.65,
+      -1.36
+     ],
+     [
+      -0.45,
+      -1.36
+     ],
+     [
+      -0.35,
+      -1.46
+     ],
+     [
+      -0.05,
+      -1.46
+     ],
+     [
+      0.05,
+      -1.56
+     ],
+     [
+      0.15,
+      -1.56
+     ],
+     [
+      0.25,
+      -1.66
+     ],
+     [
+      0.35,
+      -1.66
+     ],
+     [
+      0.45,
+      -1.76
+     ],
+     [
+      0.45,
+      -1.86
+     ],
+     [
+      2.05,
+      -1.86
+     ],
+     [
+      2.05,
+      -1.76
+     ],
+     [
+      2.15,
+      -1.66
+     ],
+     [
+      2.25,
+      -1.66
+     ],
+     [
+      2.25,
+      -1.46
+     ],
+     [
+      2.35,
+      -1.36
+     ],
+     [
+      2.45,
+      -1.36
+     ],
+     [
+      2.45,
+      -1.16
+     ],
+     [
+      2.55,
+      -1.06
+     ],
+     [
+      2.65,
+      -1.06
+     ],
+     [
+      2.65,
+      1.14
+     ],
+     [
+      2.45,
+      1.14
+     ],
+     [
+      2.35,
+      1.24
+     ],
+     [
+      2.25,
+      1.24
+     ],
+     [
+      2.15,
+      1.34
+     ],
+     [
+      1.95,
+      1.34
+     ],
+     [
+      1.85,
+      1.44
+     ],
+     [
+      1.65,
+      1.44
+     ],
+     [
+      1.55,
+      1.54
+     ],
+     [
+      1.35,
+      1.54
+     ],
+     [
+      1.25,
+      1.64
+     ],
+     [
+      1.05,
+      1.64
+     ],
+     [
+      0.95,
+      1.74
+     ],
+     [
+      0.85,
+      1.74
+     ],
+     [
+      0.75,
+      1.84
+     ],
+     [
+      0.75,
+      1.94
+     ],
+     [
+      -0.65,
+      1.94
+     ],
+     [
+      -0.65,
+      1.84
+     ],
+     [
+      -0.75,
+      1.74
+     ],
+     [
+      -0.75,
+      1.54
+     ],
+     [
+      -0.85,
+      1.44
+     ],
+     [
+      -0.85,
+      1.24
+     ],
+     [
+      -0.95,
+      1.14
+     ],
+     [
+      -0.95,
+      1.04
+     ],
+     [
+      -1.05,
+      0.94
+     ],
+     [
+      -1.15,
+      0.94
+     ],
+     [
+      -1.35,
+      0.74
+     ],
+     [
+      -1.45,
+      0.74
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254432.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..cde031b1baac2b66c63bfeb89b6df36e8cdefee2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/41254432.json	
@@ -0,0 +1,1042 @@
+{
+ "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": [
+      1.12,
+      -2.88,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      1.22,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.52,
+       0.0
+      ],
+      [
+       0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      1.29,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.27,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.2,
+      4.61,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.47,
+      0.72,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.55,
+       0.0
+      ],
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.05,
+      3.11,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.89,
+      0.97,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.74,
+      1.84,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.34,
+      0.92
+     ],
+     "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": 0.33
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.71,
+      2.53,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.52,
+      0.04
+     ],
+     "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": 1.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.08,
+      3.56,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.07,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.33,
+      -2.18
+     ],
+     [
+      0.43,
+      -2.28
+     ],
+     [
+      0.43,
+      -2.38
+     ],
+     [
+      0.53,
+      -2.48
+     ],
+     [
+      0.63,
+      -2.48
+     ],
+     [
+      0.73,
+      -2.58
+     ],
+     [
+      0.73,
+      -3.38
+     ],
+     [
+      0.83,
+      -3.48
+     ],
+     [
+      0.83,
+      -3.58
+     ],
+     [
+      1.03,
+      -3.78
+     ],
+     [
+      1.23,
+      -3.78
+     ],
+     [
+      1.33,
+      -3.88
+     ],
+     [
+      1.33,
+      -4.08
+     ],
+     [
+      1.93,
+      -4.08
+     ],
+     [
+      1.93,
+      -3.18
+     ],
+     [
+      1.83,
+      -3.08
+     ],
+     [
+      1.83,
+      -2.98
+     ],
+     [
+      1.73,
+      -2.88
+     ],
+     [
+      1.73,
+      -2.68
+     ],
+     [
+      1.63,
+      -2.58
+     ],
+     [
+      1.63,
+      -2.48
+     ],
+     [
+      1.53,
+      -2.38
+     ],
+     [
+      1.53,
+      -2.18
+     ],
+     [
+      1.33,
+      -1.98
+     ],
+     [
+      1.13,
+      -1.98
+     ],
+     [
+      0.83,
+      -1.68
+     ],
+     [
+      0.33,
+      -1.68
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -3.27,
+      2.52
+     ],
+     [
+      -3.07,
+      2.52
+     ],
+     [
+      -2.97,
+      2.42
+     ],
+     [
+      -2.87,
+      2.42
+     ],
+     [
+      -2.67,
+      2.22
+     ],
+     [
+      -2.47,
+      2.22
+     ],
+     [
+      -2.37,
+      2.12
+     ],
+     [
+      -2.37,
+      1.42
+     ],
+     [
+      -2.27,
+      1.32
+     ],
+     [
+      -2.17,
+      1.32
+     ],
+     [
+      -2.07,
+      1.22
+     ],
+     [
+      -1.97,
+      1.22
+     ],
+     [
+      -1.77,
+      1.02
+     ],
+     [
+      -1.67,
+      1.02
+     ],
+     [
+      -1.57,
+      0.92
+     ],
+     [
+      -1.47,
+      0.92
+     ],
+     [
+      -1.37,
+      0.82
+     ],
+     [
+      -1.27,
+      0.82
+     ],
+     [
+      -1.17,
+      0.72
+     ],
+     [
+      -1.17,
+      0.62
+     ],
+     [
+      -1.07,
+      0.52
+     ],
+     [
+      -1.07,
+      0.42
+     ],
+     [
+      -0.97,
+      0.32
+     ],
+     [
+      -0.57,
+      0.32
+     ],
+     [
+      -0.47,
+      0.22
+     ],
+     [
+      -0.37,
+      0.22
+     ],
+     [
+      -0.27,
+      0.12
+     ],
+     [
+      -0.17,
+      0.12
+     ],
+     [
+      -0.07,
+      0.02
+     ],
+     [
+      0.03,
+      0.02
+     ],
+     [
+      0.13,
+      -0.08
+     ],
+     [
+      0.33,
+      -0.08
+     ],
+     [
+      0.43,
+      -0.18
+     ],
+     [
+      0.83,
+      -0.18
+     ],
+     [
+      1.03,
+      0.02
+     ],
+     [
+      1.03,
+      0.12
+     ],
+     [
+      1.23,
+      0.32
+     ],
+     [
+      1.23,
+      0.42
+     ],
+     [
+      1.33,
+      0.52
+     ],
+     [
+      1.63,
+      0.52
+     ],
+     [
+      1.73,
+      0.42
+     ],
+     [
+      1.73,
+      0.22
+     ],
+     [
+      1.83,
+      0.12
+     ],
+     [
+      1.93,
+      0.12
+     ],
+     [
+      2.13,
+      -0.08
+     ],
+     [
+      2.23,
+      -0.08
+     ],
+     [
+      2.33,
+      -0.18
+     ],
+     [
+      2.73,
+      -0.18
+     ],
+     [
+      2.83,
+      -0.08
+     ],
+     [
+      3.03,
+      -0.08
+     ],
+     [
+      3.13,
+      -0.18
+     ],
+     [
+      3.13,
+      -0.48
+     ],
+     [
+      3.83,
+      -0.48
+     ],
+     [
+      3.83,
+      -0.28
+     ],
+     [
+      3.93,
+      -0.18
+     ],
+     [
+      4.03,
+      -0.18
+     ],
+     [
+      4.13,
+      -0.08
+     ],
+     [
+      4.23,
+      -0.08
+     ],
+     [
+      4.23,
+      0.02
+     ],
+     [
+      4.33,
+      0.12
+     ],
+     [
+      4.73,
+      0.12
+     ],
+     [
+      4.73,
+      0.22
+     ],
+     [
+      4.83,
+      0.32
+     ],
+     [
+      4.93,
+      0.32
+     ],
+     [
+      4.93,
+      2.02
+     ],
+     [
+      4.63,
+      2.02
+     ],
+     [
+      4.53,
+      2.12
+     ],
+     [
+      4.43,
+      2.12
+     ],
+     [
+      4.33,
+      2.22
+     ],
+     [
+      3.93,
+      2.22
+     ],
+     [
+      3.83,
+      2.12
+     ],
+     [
+      3.73,
+      2.12
+     ],
+     [
+      3.73,
+      2.02
+     ],
+     [
+      3.63,
+      1.92
+     ],
+     [
+      3.43,
+      1.92
+     ],
+     [
+      3.33,
+      2.02
+     ],
+     [
+      3.33,
+      2.22
+     ],
+     [
+      3.43,
+      2.32
+     ],
+     [
+      3.43,
+      2.82
+     ],
+     [
+      3.33,
+      2.82
+     ],
+     [
+      3.23,
+      2.92
+     ],
+     [
+      3.13,
+      2.92
+     ],
+     [
+      2.83,
+      3.22
+     ],
+     [
+      2.83,
+      3.42
+     ],
+     [
+      2.93,
+      3.52
+     ],
+     [
+      2.93,
+      4.12
+     ],
+     [
+      2.83,
+      4.22
+     ],
+     [
+      2.73,
+      4.22
+     ],
+     [
+      2.53,
+      4.42
+     ],
+     [
+      2.43,
+      4.42
+     ],
+     [
+      2.33,
+      4.52
+     ],
+     [
+      2.23,
+      4.52
+     ],
+     [
+      2.13,
+      4.62
+     ],
+     [
+      2.03,
+      4.62
+     ],
+     [
+      1.73,
+      4.92
+     ],
+     [
+      1.43,
+      4.92
+     ],
+     [
+      1.33,
+      5.02
+     ],
+     [
+      1.33,
+      5.32
+     ],
+     [
+      1.03,
+      5.32
+     ],
+     [
+      0.93,
+      5.42
+     ],
+     [
+      0.93,
+      5.62
+     ],
+     [
+      0.83,
+      5.62
+     ],
+     [
+      0.53,
+      5.92
+     ],
+     [
+      0.03,
+      5.92
+     ],
+     [
+      -0.07,
+      6.02
+     ],
+     [
+      -0.27,
+      6.02
+     ],
+     [
+      -0.37,
+      6.12
+     ],
+     [
+      -0.47,
+      6.12
+     ],
+     [
+      -0.57,
+      6.22
+     ],
+     [
+      -0.57,
+      6.32
+     ],
+     [
+      -1.77,
+      6.32
+     ],
+     [
+      -1.77,
+      6.12
+     ],
+     [
+      -1.87,
+      6.02
+     ],
+     [
+      -1.97,
+      6.02
+     ],
+     [
+      -1.97,
+      5.92
+     ],
+     [
+      -2.07,
+      5.82
+     ],
+     [
+      -2.07,
+      5.72
+     ],
+     [
+      -2.17,
+      5.62
+     ],
+     [
+      -2.17,
+      5.52
+     ],
+     [
+      -2.27,
+      5.42
+     ],
+     [
+      -2.27,
+      5.32
+     ],
+     [
+      -2.37,
+      5.22
+     ],
+     [
+      -2.37,
+      5.12
+     ],
+     [
+      -2.57,
+      4.92
+     ],
+     [
+      -2.57,
+      4.72
+     ],
+     [
+      -2.67,
+      4.62
+     ],
+     [
+      -2.67,
+      4.52
+     ],
+     [
+      -2.77,
+      4.42
+     ],
+     [
+      -2.77,
+      4.32
+     ],
+     [
+      -2.87,
+      4.22
+     ],
+     [
+      -2.87,
+      4.12
+     ],
+     [
+      -3.07,
+      3.92
+     ],
+     [
+      -3.07,
+      3.82
+     ],
+     [
+      -3.17,
+      3.72
+     ],
+     [
+      -3.27,
+      3.72
+     ]
+    ],
+    "interior hole boundary coordinates": [
+     [
+      [
+       1.93,
+       1.62
+      ],
+      [
+       1.93,
+       1.82
+      ],
+      [
+       2.03,
+       1.92
+      ],
+      [
+       2.53,
+       1.92
+      ],
+      [
+       2.73,
+       1.72
+      ],
+      [
+       3.13,
+       1.72
+      ],
+      [
+       3.23,
+       1.62
+      ],
+      [
+       3.23,
+       1.22
+      ],
+      [
+       3.13,
+       1.12
+      ],
+      [
+       2.53,
+       1.12
+      ],
+      [
+       2.33,
+       1.32
+      ],
+      [
+       2.23,
+       1.32
+      ]
+     ]
+    ]
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42444950.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42444950.json
new file mode 100644
index 0000000000000000000000000000000000000000..e11efa822ff78ca02817604de09064cc030804b2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42444950.json	
@@ -0,0 +1,264 @@
+{
+ "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": [
+      -2.54,
+      0.12,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      0.74,
+      0.55
+     ],
+     "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": 0.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.54,
+      0.12,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.59,
+      0.73,
+      0.55
+     ],
+     "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": 0.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.47,
+      -1.43,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      1.04,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.76,
+      -2.27
+     ],
+     [
+      -3.46,
+      -2.27
+     ],
+     [
+      -3.36,
+      -2.37
+     ],
+     [
+      -3.36,
+      -2.67
+     ],
+     [
+      0.44,
+      -2.67
+     ],
+     [
+      0.44,
+      -2.37
+     ],
+     [
+      0.54,
+      -2.27
+     ],
+     [
+      0.64,
+      -2.27
+     ],
+     [
+      0.64,
+      1.83
+     ],
+     [
+      -3.36,
+      1.83
+     ],
+     [
+      -3.36,
+      0.43
+     ],
+     [
+      -3.46,
+      0.33
+     ],
+     [
+      -3.46,
+      -0.97
+     ],
+     [
+      -3.56,
+      -1.07
+     ],
+     [
+      -3.76,
+      -1.07
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42444954.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42444954.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b776583f61bcf5a7f701cf9c541914629b41788
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42444954.json	
@@ -0,0 +1,314 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.37,
+      -0.23,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.64,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.69,
+      0.86,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.17,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.59,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.6,
+      -0.18
+     ],
+     [
+      -1.5,
+      -0.18
+     ],
+     [
+      -1.3,
+      -0.38
+     ],
+     [
+      -1.2,
+      -0.38
+     ],
+     [
+      -1.0,
+      -0.58
+     ],
+     [
+      -1.0,
+      -0.68
+     ],
+     [
+      -0.9,
+      -0.78
+     ],
+     [
+      -0.8,
+      -0.78
+     ],
+     [
+      -0.6,
+      -0.98
+     ],
+     [
+      -0.5,
+      -0.98
+     ],
+     [
+      -0.3,
+      -1.18
+     ],
+     [
+      0.2,
+      -1.18
+     ],
+     [
+      0.3,
+      -1.08
+     ],
+     [
+      0.5,
+      -1.08
+     ],
+     [
+      0.6,
+      -1.18
+     ],
+     [
+      0.7,
+      -1.18
+     ],
+     [
+      0.8,
+      -1.28
+     ],
+     [
+      0.8,
+      -1.38
+     ],
+     [
+      1.9,
+      -1.38
+     ],
+     [
+      1.9,
+      -0.38
+     ],
+     [
+      1.8,
+      -0.38
+     ],
+     [
+      1.6,
+      -0.18
+     ],
+     [
+      1.4,
+      -0.18
+     ],
+     [
+      1.2,
+      0.02
+     ],
+     [
+      1.2,
+      0.12
+     ],
+     [
+      1.1,
+      0.12
+     ],
+     [
+      0.5,
+      0.72
+     ],
+     [
+      0.4,
+      0.72
+     ],
+     [
+      -0.1,
+      1.22
+     ],
+     [
+      -0.2,
+      1.22
+     ],
+     [
+      -0.3,
+      1.32
+     ],
+     [
+      -0.3,
+      1.42
+     ],
+     [
+      -1.3,
+      1.42
+     ],
+     [
+      -1.3,
+      1.32
+     ],
+     [
+      -1.5,
+      1.12
+     ],
+     [
+      -1.6,
+      1.12
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42444976.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed3bc4ac29bcffc63e43c90b6f080c21e30afeb7
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42444976.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.86,
+      1.51,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.32,
+      0.81
+     ],
+     "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": 4.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      1.0,
+      1.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.05,
+      0.41
+     ],
+     "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": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.88,
+      2.21,
+      2.67
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.14,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       -0.58,
+       0.0
+      ],
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.91,
+      1.7,
+      2.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      0.52,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.58,
+      -0.89,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.04,
+      0.48
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.38,
+      -1.05,
+      2.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.05,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      -0.87,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.05,
+      0.48
+     ],
+     "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": 0.67
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.05,
+      -1.27,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.03,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      -1.25,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.03,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.71,
+      1.48,
+      1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.09,
+      1.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.58,
+      -0.11,
+      2.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.92,
+      0.08
+     ],
+     "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": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.63,
+      -1.48
+     ],
+     [
+      -1.23,
+      -1.48
+     ],
+     [
+      -1.13,
+      -1.58
+     ],
+     [
+      -1.13,
+      -1.68
+     ],
+     [
+      0.17,
+      -1.68
+     ],
+     [
+      0.17,
+      -1.48
+     ],
+     [
+      0.27,
+      -1.38
+     ],
+     [
+      0.47,
+      -1.38
+     ],
+     [
+      0.57,
+      -1.48
+     ],
+     [
+      1.17,
+      -1.48
+     ],
+     [
+      1.17,
+      -1.28
+     ],
+     [
+      1.27,
+      -1.18
+     ],
+     [
+      1.27,
+      -0.78
+     ],
+     [
+      1.37,
+      -0.68
+     ],
+     [
+      1.37,
+      -0.38
+     ],
+     [
+      1.47,
+      -0.28
+     ],
+     [
+      1.47,
+      0.12
+     ],
+     [
+      1.57,
+      0.22
+     ],
+     [
+      1.67,
+      0.22
+     ],
+     [
+      1.67,
+      2.52
+     ],
+     [
+      1.37,
+      2.52
+     ],
+     [
+      1.27,
+      2.62
+     ],
+     [
+      1.07,
+      2.62
+     ],
+     [
+      0.97,
+      2.72
+     ],
+     [
+      0.97,
+      2.82
+     ],
+     [
+      -1.03,
+      2.82
+     ],
+     [
+      -1.03,
+      2.62
+     ],
+     [
+      -1.13,
+      2.52
+     ],
+     [
+      -1.13,
+      2.12
+     ],
+     [
+      -1.23,
+      2.02
+     ],
+     [
+      -1.23,
+      1.42
+     ],
+     [
+      -1.33,
+      1.32
+     ],
+     [
+      -1.33,
+      0.82
+     ],
+     [
+      -1.43,
+      0.72
+     ],
+     [
+      -1.43,
+      0.32
+     ],
+     [
+      -1.53,
+      0.22
+     ],
+     [
+      -1.63,
+      0.22
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445026.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..216fc109bc4a553c989580d7ca6ebf2d983da17c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445026.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      0.13,
+      1.32
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      0.26,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.76,
+      -1.43,
+      1.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.72,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      0.11,
+      1.32
+     ],
+     "3D oriented bounding box dimensions": [
+      1.22,
+      0.25,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.77,
+      0.21,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      0.61,
+      0.2
+     ],
+     "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": 4.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.5,
+      -1.47,
+      1.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.43,
+      1.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      0.09,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.55,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.4,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       0.4,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      0.07,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.57,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.44,
+      -1.86
+     ],
+     [
+      -1.34,
+      -1.86
+     ],
+     [
+      -1.24,
+      -1.96
+     ],
+     [
+      -0.94,
+      -1.96
+     ],
+     [
+      -0.84,
+      -2.06
+     ],
+     [
+      -0.64,
+      -2.06
+     ],
+     [
+      -0.54,
+      -2.16
+     ],
+     [
+      -0.54,
+      -2.36
+     ],
+     [
+      1.06,
+      -2.36
+     ],
+     [
+      1.06,
+      -2.16
+     ],
+     [
+      1.16,
+      -2.06
+     ],
+     [
+      1.16,
+      -1.96
+     ],
+     [
+      1.26,
+      -1.86
+     ],
+     [
+      1.26,
+      -1.76
+     ],
+     [
+      1.36,
+      -1.66
+     ],
+     [
+      1.36,
+      -0.86
+     ],
+     [
+      1.46,
+      -0.76
+     ],
+     [
+      1.56,
+      -0.76
+     ],
+     [
+      1.56,
+      1.14
+     ],
+     [
+      1.46,
+      1.14
+     ],
+     [
+      1.36,
+      1.24
+     ],
+     [
+      1.26,
+      1.24
+     ],
+     [
+      1.16,
+      1.34
+     ],
+     [
+      0.86,
+      1.34
+     ],
+     [
+      0.76,
+      1.44
+     ],
+     [
+      0.76,
+      1.54
+     ],
+     [
+      -1.14,
+      1.54
+     ],
+     [
+      -1.14,
+      1.44
+     ],
+     [
+      -1.24,
+      1.34
+     ],
+     [
+      -1.24,
+      1.04
+     ],
+     [
+      -1.34,
+      0.94
+     ],
+     [
+      -1.44,
+      0.94
+     ],
+     [
+      -1.44,
+      -0.26
+     ],
+     [
+      -0.74,
+      -0.26
+     ],
+     [
+      -0.64,
+      -0.36
+     ],
+     [
+      -0.64,
+      -0.66
+     ],
+     [
+      -0.74,
+      -0.76
+     ],
+     [
+      -1.04,
+      -0.76
+     ],
+     [
+      -1.04,
+      -0.86
+     ],
+     [
+      -1.14,
+      -0.96
+     ],
+     [
+      -1.24,
+      -0.96
+     ],
+     [
+      -1.24,
+      -1.16
+     ],
+     [
+      -1.34,
+      -1.26
+     ],
+     [
+      -1.44,
+      -1.26
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445031.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ef3a2be073f7aee51b8b8ad68311e7258152c87
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445031.json	
@@ -0,0 +1,500 @@
+{
+ "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": [
+      1.05,
+      0.59,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.34,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.17,
+      0.99,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.96,
+      0.1
+     ],
+     "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": 3.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.58,
+      -1.75,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.48,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.55,
+      1.54,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      0.1,
+      0.69
+     ],
+     "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": 1.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.94,
+      -1.9
+     ],
+     [
+      -1.74,
+      -1.9
+     ],
+     [
+      -1.64,
+      -2.0
+     ],
+     [
+      -1.34,
+      -2.0
+     ],
+     [
+      -1.24,
+      -2.1
+     ],
+     [
+      -1.04,
+      -2.1
+     ],
+     [
+      -0.94,
+      -2.2
+     ],
+     [
+      -0.64,
+      -2.2
+     ],
+     [
+      -0.54,
+      -2.3
+     ],
+     [
+      -0.24,
+      -2.3
+     ],
+     [
+      -0.14,
+      -2.4
+     ],
+     [
+      -0.14,
+      -2.5
+     ],
+     [
+      1.26,
+      -2.5
+     ],
+     [
+      1.26,
+      -2.4
+     ],
+     [
+      1.46,
+      -2.2
+     ],
+     [
+      1.56,
+      -2.2
+     ],
+     [
+      1.56,
+      -2.1
+     ],
+     [
+      1.66,
+      -2.0
+     ],
+     [
+      1.66,
+      -1.8
+     ],
+     [
+      1.76,
+      -1.7
+     ],
+     [
+      1.76,
+      -1.4
+     ],
+     [
+      1.86,
+      -1.3
+     ],
+     [
+      1.86,
+      -1.0
+     ],
+     [
+      1.96,
+      -0.9
+     ],
+     [
+      2.76,
+      -0.9
+     ],
+     [
+      2.76,
+      -0.4
+     ],
+     [
+      2.66,
+      -0.4
+     ],
+     [
+      2.56,
+      -0.3
+     ],
+     [
+      2.56,
+      -0.2
+     ],
+     [
+      2.26,
+      -0.2
+     ],
+     [
+      2.16,
+      -0.1
+     ],
+     [
+      2.16,
+      0.2
+     ],
+     [
+      2.26,
+      0.3
+     ],
+     [
+      2.26,
+      1.5
+     ],
+     [
+      2.16,
+      1.5
+     ],
+     [
+      2.06,
+      1.6
+     ],
+     [
+      1.86,
+      1.6
+     ],
+     [
+      1.76,
+      1.7
+     ],
+     [
+      1.56,
+      1.7
+     ],
+     [
+      1.46,
+      1.8
+     ],
+     [
+      1.26,
+      1.8
+     ],
+     [
+      1.16,
+      1.9
+     ],
+     [
+      0.96,
+      1.9
+     ],
+     [
+      0.86,
+      2.0
+     ],
+     [
+      0.56,
+      2.0
+     ],
+     [
+      0.46,
+      2.1
+     ],
+     [
+      0.46,
+      2.2
+     ],
+     [
+      -0.74,
+      2.2
+     ],
+     [
+      -0.74,
+      2.0
+     ],
+     [
+      -0.94,
+      1.8
+     ],
+     [
+      -0.94,
+      1.7
+     ],
+     [
+      -1.04,
+      1.6
+     ],
+     [
+      -1.04,
+      1.4
+     ],
+     [
+      -1.14,
+      1.3
+     ],
+     [
+      -1.34,
+      1.3
+     ],
+     [
+      -1.34,
+      1.1
+     ],
+     [
+      -1.44,
+      1.0
+     ],
+     [
+      -1.44,
+      0.9
+     ],
+     [
+      -1.54,
+      0.8
+     ],
+     [
+      -1.94,
+      0.8
+     ],
+     [
+      -1.94,
+      -0.7
+     ],
+     [
+      -1.84,
+      -0.7
+     ],
+     [
+      -1.74,
+      -0.8
+     ],
+     [
+      -1.74,
+      -1.2
+     ],
+     [
+      -1.84,
+      -1.3
+     ],
+     [
+      -1.94,
+      -1.3
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445429.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445429.json
new file mode 100644
index 0000000000000000000000000000000000000000..40cf67f384d89625645dcde7db25104827a5758c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445429.json	
@@ -0,0 +1,404 @@
+{
+ "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": [
+      0.89,
+      1.13,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.06,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.73,
+      1.3,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.39,
+      1.56
+     ],
+     "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": 0.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      1.19,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.38,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      1.11,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.21,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.17,
+       0.0
+      ],
+      [
+       -0.17,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.49,
+      1.25,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.68,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.43,
+       0.0
+      ],
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      0.28,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.02,
+      1.15
+     ],
+     "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": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.49,
+      -1.14
+     ],
+     [
+      1.51,
+      -1.14
+     ],
+     [
+      1.51,
+      -1.04
+     ],
+     [
+      1.61,
+      -0.94
+     ],
+     [
+      2.01,
+      -0.94
+     ],
+     [
+      2.11,
+      -0.84
+     ],
+     [
+      2.51,
+      -0.84
+     ],
+     [
+      2.61,
+      -0.74
+     ],
+     [
+      2.91,
+      -0.74
+     ],
+     [
+      2.91,
+      1.36
+     ],
+     [
+      2.81,
+      1.36
+     ],
+     [
+      2.71,
+      1.46
+     ],
+     [
+      2.71,
+      1.56
+     ],
+     [
+      2.61,
+      1.66
+     ],
+     [
+      2.61,
+      1.96
+     ],
+     [
+      0.31,
+      1.96
+     ],
+     [
+      0.31,
+      1.86
+     ],
+     [
+      0.21,
+      1.76
+     ],
+     [
+      -0.19,
+      1.76
+     ],
+     [
+      -0.29,
+      1.66
+     ],
+     [
+      -0.79,
+      1.66
+     ],
+     [
+      -0.89,
+      1.56
+     ],
+     [
+      -1.29,
+      1.56
+     ],
+     [
+      -1.39,
+      1.46
+     ],
+     [
+      -1.49,
+      1.46
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445981.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..9251df5c94d65cbb80787a6eedc6e5901b499944
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445981.json	
@@ -0,0 +1,722 @@
+{
+ "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": [
+      2.79,
+      1.79,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.3,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.8,
+      2.74,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.49,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.54,
+       0.0
+      ],
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.63,
+      2.64,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.23,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.35,
+       0.0
+      ],
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.9,
+      2.44,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.17,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      1.81,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      1.75,
+      0.51
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.5,
+      0.84,
+      -0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.37,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.3,
+       0.0
+      ],
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.43,
+      2.12,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.71,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.32,
+      1.87,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      1.21,
+      0.5
+     ],
+     "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": 0.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      -0.44,
+      -0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.08,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.36,
+      0.37,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.32,
+      1.21
+     ],
+     "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": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.06,
+      -0.17
+     ],
+     [
+      -1.96,
+      -0.17
+     ],
+     [
+      -1.86,
+      -0.27
+     ],
+     [
+      -1.86,
+      -0.37
+     ],
+     [
+      -1.56,
+      -0.67
+     ],
+     [
+      -1.56,
+      -0.77
+     ],
+     [
+      -0.96,
+      -1.37
+     ],
+     [
+      -0.86,
+      -1.37
+     ],
+     [
+      -0.66,
+      -1.57
+     ],
+     [
+      -0.66,
+      -1.67
+     ],
+     [
+      0.34,
+      -1.67
+     ],
+     [
+      0.34,
+      -1.07
+     ],
+     [
+      0.44,
+      -0.97
+     ],
+     [
+      0.64,
+      -0.97
+     ],
+     [
+      0.74,
+      -1.07
+     ],
+     [
+      1.24,
+      -1.07
+     ],
+     [
+      1.54,
+      -0.77
+     ],
+     [
+      1.64,
+      -0.77
+     ],
+     [
+      1.74,
+      -0.67
+     ],
+     [
+      1.84,
+      -0.67
+     ],
+     [
+      2.14,
+      -0.37
+     ],
+     [
+      2.34,
+      -0.37
+     ],
+     [
+      2.44,
+      -0.27
+     ],
+     [
+      2.54,
+      -0.27
+     ],
+     [
+      2.64,
+      -0.17
+     ],
+     [
+      2.74,
+      -0.17
+     ],
+     [
+      2.84,
+      -0.07
+     ],
+     [
+      3.04,
+      -0.07
+     ],
+     [
+      3.14,
+      -0.17
+     ],
+     [
+      3.84,
+      -0.17
+     ],
+     [
+      4.04,
+      -0.37
+     ],
+     [
+      4.44,
+      -0.37
+     ],
+     [
+      4.54,
+      -0.27
+     ],
+     [
+      4.84,
+      -0.27
+     ],
+     [
+      4.84,
+      0.83
+     ],
+     [
+      4.74,
+      0.83
+     ],
+     [
+      4.64,
+      0.93
+     ],
+     [
+      4.64,
+      1.33
+     ],
+     [
+      4.74,
+      1.43
+     ],
+     [
+      4.84,
+      1.43
+     ],
+     [
+      4.84,
+      2.13
+     ],
+     [
+      4.74,
+      2.13
+     ],
+     [
+      4.54,
+      2.33
+     ],
+     [
+      4.54,
+      2.43
+     ],
+     [
+      4.14,
+      2.83
+     ],
+     [
+      4.14,
+      2.93
+     ],
+     [
+      3.64,
+      3.43
+     ],
+     [
+      3.64,
+      3.63
+     ],
+     [
+      1.84,
+      3.63
+     ],
+     [
+      1.84,
+      3.53
+     ],
+     [
+      1.74,
+      3.43
+     ],
+     [
+      1.64,
+      3.43
+     ],
+     [
+      1.54,
+      3.33
+     ],
+     [
+      1.44,
+      3.33
+     ],
+     [
+      1.34,
+      3.23
+     ],
+     [
+      1.04,
+      3.23
+     ],
+     [
+      0.94,
+      3.13
+     ],
+     [
+      0.74,
+      3.13
+     ],
+     [
+      0.64,
+      3.03
+     ],
+     [
+      0.34,
+      3.03
+     ],
+     [
+      0.14,
+      2.83
+     ],
+     [
+      0.04,
+      2.83
+     ],
+     [
+      -0.06,
+      2.73
+     ],
+     [
+      -0.26,
+      2.73
+     ],
+     [
+      -0.26,
+      2.63
+     ],
+     [
+      -0.46,
+      2.43
+     ],
+     [
+      -1.36,
+      2.43
+     ],
+     [
+      -1.46,
+      2.33
+     ],
+     [
+      -1.56,
+      2.33
+     ],
+     [
+      -1.66,
+      2.23
+     ],
+     [
+      -1.86,
+      2.23
+     ],
+     [
+      -1.96,
+      2.13
+     ],
+     [
+      -2.06,
+      2.13
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445984.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445984.json
new file mode 100644
index 0000000000000000000000000000000000000000..8843e5ca70823678fd94bddefed04cfa77b132f1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42445984.json	
@@ -0,0 +1,868 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.32,
+      2.05,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.99,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      0.72,
+      -1.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.06,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       0.64,
+       0.0
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.42,
+      3.85,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.03,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.92,
+      3.19,
+      2.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.47,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.22,
+       0.0
+      ],
+      [
+       -0.22,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      0.74,
+      -0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.04,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.16,
+      3.05,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.14,
+      0.36
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.45,
+      3.78,
+      -1.28
+     ],
+     "3D oriented bounding box dimensions": [
+      2.34,
+      0.26,
+      0.99
+     ],
+     "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": 0.0
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.57,
+      3.98,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      0.34,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.39,
+       0.0
+      ],
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.15,
+      3.94,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.22,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.44,
+       0.0
+      ],
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.15,
+      4.12,
+      -1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.55,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      2.53,
+      -0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.13,
+      1.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.47,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      2.21,
+      1.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.12,
+      2.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.15,
+      3.93,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.22,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.42,
+       0.0
+      ],
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.64,
+      3.08
+     ],
+     [
+      -3.54,
+      3.08
+     ],
+     [
+      -3.44,
+      2.98
+     ],
+     [
+      -3.44,
+      2.58
+     ],
+     [
+      -3.34,
+      2.48
+     ],
+     [
+      -3.24,
+      2.48
+     ],
+     [
+      -3.14,
+      2.38
+     ],
+     [
+      -3.14,
+      1.88
+     ],
+     [
+      -2.94,
+      1.68
+     ],
+     [
+      -2.94,
+      1.58
+     ],
+     [
+      -2.84,
+      1.48
+     ],
+     [
+      -2.84,
+      1.28
+     ],
+     [
+      -2.74,
+      1.18
+     ],
+     [
+      -2.74,
+      1.08
+     ],
+     [
+      -2.54,
+      0.88
+     ],
+     [
+      -2.54,
+      0.68
+     ],
+     [
+      -2.44,
+      0.58
+     ],
+     [
+      -2.44,
+      0.48
+     ],
+     [
+      -2.34,
+      0.38
+     ],
+     [
+      -2.34,
+      0.28
+     ],
+     [
+      -2.24,
+      0.18
+     ],
+     [
+      -2.24,
+      0.08
+     ],
+     [
+      -2.04,
+      -0.12
+     ],
+     [
+      -2.04,
+      -0.22
+     ],
+     [
+      -1.94,
+      -0.32
+     ],
+     [
+      -1.94,
+      -0.42
+     ],
+     [
+      -1.14,
+      -0.42
+     ],
+     [
+      -1.04,
+      -0.32
+     ],
+     [
+      -0.84,
+      -0.32
+     ],
+     [
+      -0.74,
+      -0.22
+     ],
+     [
+      -0.64,
+      -0.22
+     ],
+     [
+      -0.54,
+      -0.12
+     ],
+     [
+      -0.44,
+      -0.12
+     ],
+     [
+      -0.24,
+      0.08
+     ],
+     [
+      -0.04,
+      0.08
+     ],
+     [
+      0.06,
+      0.18
+     ],
+     [
+      0.16,
+      0.18
+     ],
+     [
+      0.26,
+      0.28
+     ],
+     [
+      0.36,
+      0.28
+     ],
+     [
+      0.46,
+      0.38
+     ],
+     [
+      0.56,
+      0.38
+     ],
+     [
+      0.86,
+      0.68
+     ],
+     [
+      1.06,
+      0.68
+     ],
+     [
+      1.06,
+      1.48
+     ],
+     [
+      0.96,
+      1.48
+     ],
+     [
+      0.86,
+      1.58
+     ],
+     [
+      0.86,
+      1.68
+     ],
+     [
+      0.76,
+      1.78
+     ],
+     [
+      0.76,
+      1.88
+     ],
+     [
+      0.66,
+      1.98
+     ],
+     [
+      0.66,
+      2.08
+     ],
+     [
+      0.56,
+      2.18
+     ],
+     [
+      0.56,
+      2.28
+     ],
+     [
+      0.36,
+      2.48
+     ],
+     [
+      0.36,
+      2.58
+     ],
+     [
+      0.26,
+      2.68
+     ],
+     [
+      0.26,
+      2.78
+     ],
+     [
+      -0.04,
+      3.08
+     ],
+     [
+      -0.04,
+      3.18
+     ],
+     [
+      -0.14,
+      3.28
+     ],
+     [
+      -0.14,
+      3.48
+     ],
+     [
+      -0.34,
+      3.68
+     ],
+     [
+      -0.34,
+      3.78
+     ],
+     [
+      -0.44,
+      3.88
+     ],
+     [
+      -0.44,
+      3.98
+     ],
+     [
+      -0.54,
+      4.08
+     ],
+     [
+      -0.54,
+      4.18
+     ],
+     [
+      -0.64,
+      4.28
+     ],
+     [
+      -0.64,
+      4.38
+     ],
+     [
+      -0.74,
+      4.48
+     ],
+     [
+      -1.04,
+      4.48
+     ],
+     [
+      -1.14,
+      4.58
+     ],
+     [
+      -1.34,
+      4.58
+     ],
+     [
+      -1.44,
+      4.68
+     ],
+     [
+      -1.44,
+      4.88
+     ],
+     [
+      -2.24,
+      4.88
+     ],
+     [
+      -2.24,
+      4.58
+     ],
+     [
+      -2.34,
+      4.48
+     ],
+     [
+      -2.64,
+      4.48
+     ],
+     [
+      -2.74,
+      4.38
+     ],
+     [
+      -2.84,
+      4.38
+     ],
+     [
+      -3.04,
+      4.18
+     ],
+     [
+      -3.24,
+      4.18
+     ],
+     [
+      -3.54,
+      3.88
+     ],
+     [
+      -3.64,
+      3.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446049.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446049.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d012a4b662cf1950b0bdb80f1ec971eff2a54
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446049.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": {
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      1.38,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.1,
+      0.67
+     ],
+     "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": 4.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.28,
+      0.71,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.07,
+      1.2
+     ],
+     "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": 0.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      0.49,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.34,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.29,
+      0.73,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.05,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.66,
+       0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      1.54,
+      -0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.36,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.26,
+      -0.37,
+      -0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.1,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       0.55,
+       0.0
+      ],
+      [
+       -0.55,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.73,
+      -1.14
+     ],
+     [
+      -1.63,
+      -1.14
+     ],
+     [
+      -1.23,
+      -1.54
+     ],
+     [
+      -1.23,
+      -1.64
+     ],
+     [
+      0.17,
+      -1.64
+     ],
+     [
+      0.17,
+      -1.54
+     ],
+     [
+      0.27,
+      -1.44
+     ],
+     [
+      0.37,
+      -1.44
+     ],
+     [
+      0.57,
+      -1.24
+     ],
+     [
+      0.57,
+      -1.14
+     ],
+     [
+      0.67,
+      -1.04
+     ],
+     [
+      0.77,
+      -1.04
+     ],
+     [
+      0.87,
+      -0.94
+     ],
+     [
+      0.97,
+      -0.94
+     ],
+     [
+      1.47,
+      -0.44
+     ],
+     [
+      1.47,
+      -0.34
+     ],
+     [
+      1.57,
+      -0.24
+     ],
+     [
+      1.57,
+      0.36
+     ],
+     [
+      1.67,
+      0.46
+     ],
+     [
+      1.97,
+      0.46
+     ],
+     [
+      1.97,
+      0.56
+     ],
+     [
+      2.07,
+      0.66
+     ],
+     [
+      2.17,
+      0.66
+     ],
+     [
+      2.37,
+      0.86
+     ],
+     [
+      2.47,
+      0.86
+     ],
+     [
+      2.47,
+      2.06
+     ],
+     [
+      0.27,
+      2.06
+     ],
+     [
+      0.27,
+      1.96
+     ],
+     [
+      0.17,
+      1.86
+     ],
+     [
+      -0.03,
+      1.86
+     ],
+     [
+      -0.43,
+      1.46
+     ],
+     [
+      -0.53,
+      1.46
+     ],
+     [
+      -1.43,
+      0.56
+     ],
+     [
+      -1.43,
+      0.46
+     ],
+     [
+      -1.53,
+      0.36
+     ],
+     [
+      -1.73,
+      0.36
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446056.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446056.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ac54619a5afd28104f5b7051617ebae47ea2906
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446056.json	
@@ -0,0 +1,700 @@
+{
+ "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": [
+      -1.42,
+      0.07,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.69,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       -0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      -1.23,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      1.17,
+      0.13
+     ],
+     "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": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      -0.4,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.48,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.27,
+      0.72,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.42,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.31,
+      1.07,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.38,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.98,
+      0.78,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.19,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       0.62,
+       0.0
+      ],
+      [
+       -0.62,
+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.21,
+      -5.23,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.09,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       0.67,
+       0.0
+      ],
+      [
+       -0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.41,
+      -1.05
+     ],
+     [
+      -3.31,
+      -1.05
+     ],
+     [
+      -3.21,
+      -1.15
+     ],
+     [
+      -3.21,
+      -1.25
+     ],
+     [
+      -3.11,
+      -1.25
+     ],
+     [
+      -3.01,
+      -1.35
+     ],
+     [
+      -2.91,
+      -1.35
+     ],
+     [
+      -2.81,
+      -1.45
+     ],
+     [
+      -2.61,
+      -1.45
+     ],
+     [
+      -2.51,
+      -1.55
+     ],
+     [
+      -2.41,
+      -1.55
+     ],
+     [
+      -1.51,
+      -2.45
+     ],
+     [
+      -1.41,
+      -2.45
+     ],
+     [
+      -1.21,
+      -2.65
+     ],
+     [
+      -0.21,
+      -2.65
+     ],
+     [
+      -0.21,
+      -2.55
+     ],
+     [
+      -0.11,
+      -2.45
+     ],
+     [
+      -0.01,
+      -2.45
+     ],
+     [
+      0.09,
+      -2.35
+     ],
+     [
+      0.09,
+      -2.25
+     ],
+     [
+      0.19,
+      -2.15
+     ],
+     [
+      0.89,
+      -2.15
+     ],
+     [
+      1.19,
+      -1.85
+     ],
+     [
+      1.19,
+      -1.75
+     ],
+     [
+      1.59,
+      -1.35
+     ],
+     [
+      1.69,
+      -1.35
+     ],
+     [
+      1.89,
+      -1.15
+     ],
+     [
+      1.99,
+      -1.15
+     ],
+     [
+      2.09,
+      -1.05
+     ],
+     [
+      2.29,
+      -1.05
+     ],
+     [
+      2.39,
+      -1.15
+     ],
+     [
+      2.39,
+      -1.25
+     ],
+     [
+      2.49,
+      -1.35
+     ],
+     [
+      2.49,
+      -1.45
+     ],
+     [
+      2.59,
+      -1.55
+     ],
+     [
+      2.59,
+      -1.65
+     ],
+     [
+      2.69,
+      -1.65
+     ],
+     [
+      2.79,
+      -1.75
+     ],
+     [
+      2.89,
+      -1.75
+     ],
+     [
+      2.99,
+      -1.85
+     ],
+     [
+      2.99,
+      -1.95
+     ],
+     [
+      3.39,
+      -1.95
+     ],
+     [
+      3.39,
+      -1.15
+     ],
+     [
+      3.49,
+      -1.05
+     ],
+     [
+      3.49,
+      -0.55
+     ],
+     [
+      3.29,
+      -0.35
+     ],
+     [
+      3.29,
+      0.45
+     ],
+     [
+      3.09,
+      0.45
+     ],
+     [
+      2.99,
+      0.55
+     ],
+     [
+      2.99,
+      0.65
+     ],
+     [
+      2.89,
+      0.75
+     ],
+     [
+      2.89,
+      1.15
+     ],
+     [
+      2.59,
+      1.45
+     ],
+     [
+      2.59,
+      1.65
+     ],
+     [
+      2.49,
+      1.75
+     ],
+     [
+      2.49,
+      2.35
+     ],
+     [
+      2.29,
+      2.55
+     ],
+     [
+      2.29,
+      2.65
+     ],
+     [
+      0.89,
+      2.65
+     ],
+     [
+      0.89,
+      2.55
+     ],
+     [
+      0.79,
+      2.45
+     ],
+     [
+      0.69,
+      2.45
+     ],
+     [
+      0.59,
+      2.35
+     ],
+     [
+      0.39,
+      2.35
+     ],
+     [
+      0.29,
+      2.25
+     ],
+     [
+      0.19,
+      2.25
+     ],
+     [
+      -0.01,
+      2.05
+     ],
+     [
+      -0.11,
+      2.05
+     ],
+     [
+      -0.21,
+      1.95
+     ],
+     [
+      -0.31,
+      1.95
+     ],
+     [
+      -0.51,
+      1.75
+     ],
+     [
+      -0.61,
+      1.75
+     ],
+     [
+      -0.71,
+      1.65
+     ],
+     [
+      -0.81,
+      1.65
+     ],
+     [
+      -0.91,
+      1.55
+     ],
+     [
+      -1.21,
+      1.55
+     ],
+     [
+      -1.31,
+      1.45
+     ],
+     [
+      -1.41,
+      1.45
+     ],
+     [
+      -1.61,
+      1.25
+     ],
+     [
+      -2.01,
+      1.25
+     ],
+     [
+      -2.01,
+      1.05
+     ],
+     [
+      -2.31,
+      0.75
+     ],
+     [
+      -2.41,
+      0.75
+     ],
+     [
+      -2.61,
+      0.55
+     ],
+     [
+      -2.71,
+      0.55
+     ],
+     [
+      -2.81,
+      0.45
+     ],
+     [
+      -2.91,
+      0.45
+     ],
+     [
+      -3.01,
+      0.35
+     ],
+     [
+      -3.11,
+      0.35
+     ],
+     [
+      -3.31,
+      0.15
+     ],
+     [
+      -3.41,
+      0.15
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446103.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446103.json
new file mode 100644
index 0000000000000000000000000000000000000000..f24bc592023dc338da513baa045963649ce842a8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446103.json	
@@ -0,0 +1,726 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      -2.55,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.25,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.31,
+      -3.63,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.53,
+      0.79
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.05,
+      -3.72,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.35,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.16,
+      -3.91,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.1,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.41,
+      -2.43,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.34,
+      0.82
+     ],
+     "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": 0.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.32,
+      -2.91,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      2.37,
+      0.88,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      -2.53,
+      -0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.28,
+      0.41
+     ],
+     "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": 0.33
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      1.32,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.42,
+      0.45,
+      0.78
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.52,
+      1.25,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.22,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.01,
+      -3.2,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.9,
+      0.18
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.78,
+      -3.19,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.39,
+      0.79,
+      0.15
+     ],
+     "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": 0.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.96,
+      -2.85,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.19,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.73,
+      -4.26
+     ],
+     [
+      -1.63,
+      -4.26
+     ],
+     [
+      -1.53,
+      -4.36
+     ],
+     [
+      -1.53,
+      -4.76
+     ],
+     [
+      -1.43,
+      -4.76
+     ],
+     [
+      -1.33,
+      -4.86
+     ],
+     [
+      -1.33,
+      -5.66
+     ],
+     [
+      -0.43,
+      -5.66
+     ],
+     [
+      -0.33,
+      -5.56
+     ],
+     [
+      -0.13,
+      -5.56
+     ],
+     [
+      -0.03,
+      -5.66
+     ],
+     [
+      1.27,
+      -5.66
+     ],
+     [
+      1.27,
+      -5.56
+     ],
+     [
+      1.37,
+      -5.46
+     ],
+     [
+      1.57,
+      -5.46
+     ],
+     [
+      1.77,
+      -5.66
+     ],
+     [
+      2.57,
+      -5.66
+     ],
+     [
+      2.67,
+      -5.76
+     ],
+     [
+      2.67,
+      -6.06
+     ],
+     [
+      4.27,
+      -6.06
+     ],
+     [
+      4.27,
+      -5.36
+     ],
+     [
+      4.17,
+      -5.36
+     ],
+     [
+      4.07,
+      -5.26
+     ],
+     [
+      4.07,
+      -2.96
+     ],
+     [
+      3.97,
+      -2.86
+     ],
+     [
+      3.97,
+      -1.96
+     ],
+     [
+      3.87,
+      -1.96
+     ],
+     [
+      3.77,
+      -1.86
+     ],
+     [
+      3.77,
+      -1.36
+     ],
+     [
+      3.37,
+      -1.36
+     ],
+     [
+      3.27,
+      -1.26
+     ],
+     [
+      3.27,
+      -0.46
+     ],
+     [
+      3.17,
+      -0.36
+     ],
+     [
+      3.17,
+      -0.16
+     ],
+     [
+      3.27,
+      -0.06
+     ],
+     [
+      3.37,
+      -0.06
+     ],
+     [
+      3.37,
+      0.44
+     ],
+     [
+      3.27,
+      0.54
+     ],
+     [
+      3.27,
+      0.74
+     ],
+     [
+      3.17,
+      0.84
+     ],
+     [
+      3.17,
+      1.34
+     ],
+     [
+      3.07,
+      1.44
+     ],
+     [
+      3.07,
+      1.94
+     ],
+     [
+      -0.53,
+      1.94
+     ],
+     [
+      -0.53,
+      1.74
+     ],
+     [
+      -0.63,
+      1.64
+     ],
+     [
+      -1.43,
+      1.64
+     ],
+     [
+      -1.53,
+      1.54
+     ],
+     [
+      -1.53,
+      1.44
+     ],
+     [
+      -1.63,
+      1.34
+     ],
+     [
+      -1.73,
+      1.34
+     ],
+     [
+      -1.73,
+      -1.76
+     ],
+     [
+      -1.53,
+      -1.76
+     ],
+     [
+      -1.43,
+      -1.86
+     ],
+     [
+      -1.43,
+      -3.16
+     ],
+     [
+      -1.53,
+      -3.26
+     ],
+     [
+      -1.73,
+      -3.26
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446116.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446116.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae6aa167de28945c1e7cd846b5e4948297a40379
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446116.json	
@@ -0,0 +1,392 @@
+{
+ "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": [
+      -0.76,
+      -0.57,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.46,
+      0.76,
+      0.3
+     ],
+     "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": 1.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      -0.31,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.18,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.29,
+      0.39,
+      -0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.25,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      0.02,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.04,
+      0.29
+     ],
+     "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": 3.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.49,
+      -2.03
+     ],
+     [
+      -2.39,
+      -2.03
+     ],
+     [
+      -2.29,
+      -2.13
+     ],
+     [
+      -1.99,
+      -2.13
+     ],
+     [
+      -1.89,
+      -2.23
+     ],
+     [
+      -1.29,
+      -2.23
+     ],
+     [
+      -1.19,
+      -2.33
+     ],
+     [
+      -1.19,
+      -2.43
+     ],
+     [
+      -0.39,
+      -2.43
+     ],
+     [
+      -0.39,
+      -2.23
+     ],
+     [
+      -0.29,
+      -2.13
+     ],
+     [
+      0.01,
+      -2.13
+     ],
+     [
+      0.21,
+      -2.33
+     ],
+     [
+      0.21,
+      -2.43
+     ],
+     [
+      1.21,
+      -2.43
+     ],
+     [
+      1.21,
+      -1.33
+     ],
+     [
+      1.11,
+      -1.33
+     ],
+     [
+      1.01,
+      -1.23
+     ],
+     [
+      1.01,
+      0.17
+     ],
+     [
+      1.11,
+      0.27
+     ],
+     [
+      1.21,
+      0.27
+     ],
+     [
+      1.21,
+      1.37
+     ],
+     [
+      0.51,
+      1.37
+     ],
+     [
+      0.41,
+      1.47
+     ],
+     [
+      0.41,
+      1.67
+     ],
+     [
+      -1.39,
+      1.67
+     ],
+     [
+      -1.39,
+      1.57
+     ],
+     [
+      -1.49,
+      1.47
+     ],
+     [
+      -1.49,
+      1.37
+     ],
+     [
+      -1.59,
+      1.27
+     ],
+     [
+      -1.89,
+      1.27
+     ],
+     [
+      -2.09,
+      1.07
+     ],
+     [
+      -2.09,
+      0.77
+     ],
+     [
+      -2.19,
+      0.67
+     ],
+     [
+      -2.19,
+      0.47
+     ],
+     [
+      -2.29,
+      0.37
+     ],
+     [
+      -2.29,
+      0.07
+     ],
+     [
+      -2.39,
+      -0.03
+     ],
+     [
+      -2.49,
+      -0.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446151.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446151.json
new file mode 100644
index 0000000000000000000000000000000000000000..5824e86b9c76e614f3d8ddf38433d425eab76655
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446151.json	
@@ -0,0 +1,592 @@
+{
+ "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": [
+      1.67,
+      1.07,
+      -2.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.61,
+      0.22
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.59,
+      1.13,
+      -2.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.42,
+      0.46
+     ],
+     "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": 2.33
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.86,
+      0.71,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      1.26,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      0.62,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      0.85,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       0.66,
+       0.0
+      ],
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.18,
+      1.01,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.22,
+      0.48,
+      0.26
+     ],
+     "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": 1.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.67,
+      1.08,
+      -2.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.62,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.11,
+      1.18,
+      -3.29
+     ],
+     "3D oriented bounding box dimensions": [
+      1.49,
+      0.68,
+      0.83
+     ],
+     "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": 3.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.94,
+      1.22,
+      -1.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.26,
+      1.46
+     ],
+     "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": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.49,
+      1.57,
+      -0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.39,
+      0.4
+     ],
+     "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": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.63,
+      1.65,
+      -1.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.1,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      1.0,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.5,
+      0.25
+     ],
+     "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": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.74,
+      1.55,
+      -1.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.3,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.26,
+       0.0
+      ],
+      [
+       -0.26,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.51,
+      0.79,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.49,
+      0.4
+     ],
+     "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": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.47,
+      -0.94
+     ],
+     [
+      -1.87,
+      -0.94
+     ],
+     [
+      -1.77,
+      -1.04
+     ],
+     [
+      -1.77,
+      -1.14
+     ],
+     [
+      2.13,
+      -1.14
+     ],
+     [
+      2.13,
+      -0.84
+     ],
+     [
+      2.23,
+      -0.74
+     ],
+     [
+      2.33,
+      -0.74
+     ],
+     [
+      2.33,
+      1.56
+     ],
+     [
+      2.23,
+      1.56
+     ],
+     [
+      2.13,
+      1.66
+     ],
+     [
+      1.53,
+      1.66
+     ],
+     [
+      1.43,
+      1.76
+     ],
+     [
+      1.43,
+      1.86
+     ],
+     [
+      -2.47,
+      1.86
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446167.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446167.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f6e2e77c8d11fcd52c1fc65c3c174801ca17b8e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446167.json	
@@ -0,0 +1,618 @@
+{
+ "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": [
+      0.02,
+      2.01,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      1.36,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.52,
+      1.42,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.22,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       -0.53,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.88,
+      -0.28,
+      -0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.36,
+      0.74
+     ],
+     "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": 1.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      -1.01,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.03,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.43,
+      -0.86,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.01,
+      0.29
+     ],
+     "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": 4.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.86,
+      0.28
+     ],
+     [
+      -2.76,
+      0.28
+     ],
+     [
+      -2.66,
+      0.18
+     ],
+     [
+      -2.66,
+      0.08
+     ],
+     [
+      -2.56,
+      -0.02
+     ],
+     [
+      -2.56,
+      -0.12
+     ],
+     [
+      -2.36,
+      -0.32
+     ],
+     [
+      -2.36,
+      -0.42
+     ],
+     [
+      -2.26,
+      -0.52
+     ],
+     [
+      -2.26,
+      -0.62
+     ],
+     [
+      -1.96,
+      -0.62
+     ],
+     [
+      -1.86,
+      -0.72
+     ],
+     [
+      -1.86,
+      -0.82
+     ],
+     [
+      -1.76,
+      -0.92
+     ],
+     [
+      -1.76,
+      -1.32
+     ],
+     [
+      -1.66,
+      -1.32
+     ],
+     [
+      -1.56,
+      -1.42
+     ],
+     [
+      -1.56,
+      -1.52
+     ],
+     [
+      -1.46,
+      -1.62
+     ],
+     [
+      -1.46,
+      -1.72
+     ],
+     [
+      0.14,
+      -1.72
+     ],
+     [
+      0.14,
+      -1.62
+     ],
+     [
+      0.24,
+      -1.52
+     ],
+     [
+      0.34,
+      -1.52
+     ],
+     [
+      0.54,
+      -1.32
+     ],
+     [
+      0.64,
+      -1.32
+     ],
+     [
+      0.74,
+      -1.22
+     ],
+     [
+      0.84,
+      -1.22
+     ],
+     [
+      1.04,
+      -1.02
+     ],
+     [
+      1.14,
+      -1.02
+     ],
+     [
+      1.24,
+      -0.92
+     ],
+     [
+      1.34,
+      -0.92
+     ],
+     [
+      1.34,
+      -0.42
+     ],
+     [
+      1.24,
+      -0.32
+     ],
+     [
+      1.24,
+      0.08
+     ],
+     [
+      1.44,
+      0.28
+     ],
+     [
+      1.54,
+      0.28
+     ],
+     [
+      1.64,
+      0.38
+     ],
+     [
+      1.74,
+      0.38
+     ],
+     [
+      1.84,
+      0.48
+     ],
+     [
+      1.94,
+      0.48
+     ],
+     [
+      2.14,
+      0.68
+     ],
+     [
+      2.14,
+      0.98
+     ],
+     [
+      2.34,
+      1.18
+     ],
+     [
+      2.44,
+      1.18
+     ],
+     [
+      2.44,
+      1.58
+     ],
+     [
+      2.34,
+      1.68
+     ],
+     [
+      2.34,
+      1.78
+     ],
+     [
+      2.24,
+      1.88
+     ],
+     [
+      2.24,
+      1.98
+     ],
+     [
+      2.14,
+      2.08
+     ],
+     [
+      2.14,
+      2.18
+     ],
+     [
+      2.04,
+      2.28
+     ],
+     [
+      2.04,
+      2.38
+     ],
+     [
+      1.94,
+      2.48
+     ],
+     [
+      1.84,
+      2.48
+     ],
+     [
+      1.74,
+      2.58
+     ],
+     [
+      1.74,
+      2.88
+     ],
+     [
+      1.64,
+      2.98
+     ],
+     [
+      1.64,
+      3.08
+     ],
+     [
+      1.54,
+      3.18
+     ],
+     [
+      1.54,
+      3.48
+     ],
+     [
+      1.44,
+      3.48
+     ],
+     [
+      1.34,
+      3.58
+     ],
+     [
+      1.34,
+      3.68
+     ],
+     [
+      0.34,
+      3.68
+     ],
+     [
+      0.34,
+      3.58
+     ],
+     [
+      0.24,
+      3.48
+     ],
+     [
+      0.14,
+      3.48
+     ],
+     [
+      0.04,
+      3.38
+     ],
+     [
+      -0.76,
+      3.38
+     ],
+     [
+      -0.86,
+      3.28
+     ],
+     [
+      -0.96,
+      3.28
+     ],
+     [
+      -1.06,
+      3.18
+     ],
+     [
+      -1.16,
+      3.18
+     ],
+     [
+      -1.26,
+      3.08
+     ],
+     [
+      -1.36,
+      3.08
+     ],
+     [
+      -1.56,
+      2.88
+     ],
+     [
+      -1.66,
+      2.88
+     ],
+     [
+      -1.76,
+      2.78
+     ],
+     [
+      -1.96,
+      2.78
+     ],
+     [
+      -2.26,
+      2.48
+     ],
+     [
+      -2.26,
+      2.08
+     ],
+     [
+      -2.46,
+      1.88
+     ],
+     [
+      -2.56,
+      1.88
+     ],
+     [
+      -2.66,
+      1.78
+     ],
+     [
+      -2.86,
+      1.78
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446517.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c26b018d6902bcd2f3fcc24d452e1502296a97b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446517.json	
@@ -0,0 +1,626 @@
+{
+ "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": [
+      -0.83,
+      -1.71,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      0.55,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      -1.34,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.72,
+      0.67,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.55,
+      -1.06,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.89,
+      0.14
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      -1.19,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      1.06,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.32,
+       0.0
+      ],
+      [
+       0.32,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.87,
+      -3.46,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      1.13,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       0.66,
+       0.0
+      ],
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      0.51,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.29,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.12,
+      0.44,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.26,
+      1.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.43,
+       0.0
+      ],
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.8,
+      -1.52,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.79,
+      0.42
+     ],
+     "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": 4.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.37,
+      -3.99
+     ],
+     [
+      -1.87,
+      -3.99
+     ],
+     [
+      -1.77,
+      -4.09
+     ],
+     [
+      -1.77,
+      -5.49
+     ],
+     [
+      -1.07,
+      -5.49
+     ],
+     [
+      -1.07,
+      -5.39
+     ],
+     [
+      -0.97,
+      -5.29
+     ],
+     [
+      -0.87,
+      -5.29
+     ],
+     [
+      -0.87,
+      -5.19
+     ],
+     [
+      -0.77,
+      -5.09
+     ],
+     [
+      -0.67,
+      -5.09
+     ],
+     [
+      -0.67,
+      -4.99
+     ],
+     [
+      -0.57,
+      -4.89
+     ],
+     [
+      -0.37,
+      -4.89
+     ],
+     [
+      -0.27,
+      -4.79
+     ],
+     [
+      -0.27,
+      -4.09
+     ],
+     [
+      -0.17,
+      -3.99
+     ],
+     [
+      0.43,
+      -3.99
+     ],
+     [
+      0.43,
+      -3.79
+     ],
+     [
+      0.53,
+      -3.69
+     ],
+     [
+      0.53,
+      -3.39
+     ],
+     [
+      0.63,
+      -3.29
+     ],
+     [
+      0.63,
+      -3.09
+     ],
+     [
+      0.73,
+      -2.99
+     ],
+     [
+      0.73,
+      -2.69
+     ],
+     [
+      0.83,
+      -2.59
+     ],
+     [
+      0.83,
+      -2.29
+     ],
+     [
+      0.93,
+      -2.19
+     ],
+     [
+      0.93,
+      -1.99
+     ],
+     [
+      1.03,
+      -1.89
+     ],
+     [
+      1.03,
+      -1.59
+     ],
+     [
+      1.13,
+      -1.49
+     ],
+     [
+      1.13,
+      -1.29
+     ],
+     [
+      1.23,
+      -1.19
+     ],
+     [
+      1.23,
+      -0.99
+     ],
+     [
+      1.33,
+      -0.89
+     ],
+     [
+      1.43,
+      -0.89
+     ],
+     [
+      1.43,
+      0.81
+     ],
+     [
+      1.33,
+      0.81
+     ],
+     [
+      1.23,
+      0.91
+     ],
+     [
+      1.03,
+      0.91
+     ],
+     [
+      0.93,
+      1.01
+     ],
+     [
+      0.83,
+      1.01
+     ],
+     [
+      0.73,
+      1.11
+     ],
+     [
+      0.73,
+      1.41
+     ],
+     [
+      -1.27,
+      1.41
+     ],
+     [
+      -1.27,
+      1.31
+     ],
+     [
+      -1.47,
+      1.11
+     ],
+     [
+      -1.47,
+      0.91
+     ],
+     [
+      -1.57,
+      0.81
+     ],
+     [
+      -1.57,
+      0.71
+     ],
+     [
+      -1.67,
+      0.61
+     ],
+     [
+      -1.67,
+      0.51
+     ],
+     [
+      -1.77,
+      0.41
+     ],
+     [
+      -1.77,
+      0.31
+     ],
+     [
+      -1.87,
+      0.21
+     ],
+     [
+      -1.87,
+      -0.09
+     ],
+     [
+      -1.97,
+      -0.19
+     ],
+     [
+      -1.97,
+      -0.39
+     ],
+     [
+      -2.07,
+      -0.49
+     ],
+     [
+      -2.07,
+      -0.79
+     ],
+     [
+      -2.17,
+      -0.89
+     ],
+     [
+      -2.17,
+      -1.09
+     ],
+     [
+      -2.27,
+      -1.19
+     ],
+     [
+      -2.37,
+      -1.19
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446529.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446529.json
new file mode 100644
index 0000000000000000000000000000000000000000..b68e118b8daf40b3cd51780d18b21f9ed45ece09
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446529.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      -0.89,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.76,
+      0.87,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.48,
+      0.32,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.14,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      2.42,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.26,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.03,
+      -1.57
+     ],
+     [
+      -0.93,
+      -1.57
+     ],
+     [
+      -0.83,
+      -1.67
+     ],
+     [
+      -0.83,
+      -1.97
+     ],
+     [
+      -0.73,
+      -2.07
+     ],
+     [
+      -0.73,
+      -2.47
+     ],
+     [
+      1.97,
+      -2.47
+     ],
+     [
+      1.97,
+      0.03
+     ],
+     [
+      1.87,
+      0.03
+     ],
+     [
+      1.77,
+      0.13
+     ],
+     [
+      1.77,
+      0.43
+     ],
+     [
+      1.67,
+      0.53
+     ],
+     [
+      1.57,
+      0.53
+     ],
+     [
+      1.47,
+      0.63
+     ],
+     [
+      1.47,
+      0.93
+     ],
+     [
+      1.37,
+      0.93
+     ],
+     [
+      1.27,
+      1.03
+     ],
+     [
+      1.27,
+      1.63
+     ],
+     [
+      1.37,
+      1.73
+     ],
+     [
+      1.37,
+      2.83
+     ],
+     [
+      -1.03,
+      2.83
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446535.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..7923cf8c13d0d802dad02f9c73d1edece84c5eb1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446535.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.27,
+      -0.48,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.1,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.49,
+      -0.71,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.08,
+      0.2
+     ],
+     "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": 0.5
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.57,
+      0.14,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.54,
+      0.16
+     ],
+     "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": 4.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.08,
+      -0.55
+     ],
+     [
+      -0.98,
+      -0.55
+     ],
+     [
+      -0.88,
+      -0.65
+     ],
+     [
+      -0.88,
+      -1.05
+     ],
+     [
+      0.82,
+      -1.05
+     ],
+     [
+      0.82,
+      -0.85
+     ],
+     [
+      0.92,
+      -0.75
+     ],
+     [
+      0.92,
+      -0.65
+     ],
+     [
+      1.02,
+      -0.55
+     ],
+     [
+      1.22,
+      -0.55
+     ],
+     [
+      1.22,
+      0.65
+     ],
+     [
+      1.12,
+      0.65
+     ],
+     [
+      1.02,
+      0.75
+     ],
+     [
+      1.02,
+      0.85
+     ],
+     [
+      0.92,
+      0.85
+     ],
+     [
+      0.82,
+      0.95
+     ],
+     [
+      0.82,
+      1.25
+     ],
+     [
+      -0.58,
+      1.25
+     ],
+     [
+      -0.58,
+      1.15
+     ],
+     [
+      -0.98,
+      0.75
+     ],
+     [
+      -1.08,
+      0.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446541.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446541.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff53fca17e3fce7aabff3ec6b30dbbdad79f4e1f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42446541.json	
@@ -0,0 +1,758 @@
+{
+ "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": [
+      1.79,
+      -1.1,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.27,
+      1.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.65,
+      -0.87,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.65,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       0.0
+      ],
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.41,
+      -0.93,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      1.09,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.52,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       -0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.57,
+      -0.84,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.24,
+      1.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      1.01,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.06,
+      0.81
+     ],
+     "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": 3.33
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      0.8,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.02,
+      0.34
+     ],
+     "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": 2.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.65,
+      0.98,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.09,
+      1.42
+     ],
+     "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": 2.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.84,
+      -3.25,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      2.03,
+      1.05,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.95,
+      -4.71,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.54,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.04,
+      1.11,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.45,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.01,
+      -0.8,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      1.04,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.83,
+      -3.59,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.47,
+      0.61,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.05,
+      -3.28,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.05,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.07,
+      -3.39,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.05,
+      0.3
+     ],
+     "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": 0.17
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.08,
+      0.91,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.11,
+      0.81
+     ],
+     "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": 3.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.42,
+      -1.66
+     ],
+     [
+      -0.82,
+      -1.66
+     ],
+     [
+      -0.72,
+      -1.76
+     ],
+     [
+      -0.32,
+      -1.76
+     ],
+     [
+      -0.12,
+      -1.96
+     ],
+     [
+      -0.12,
+      -2.36
+     ],
+     [
+      -0.02,
+      -2.46
+     ],
+     [
+      -0.02,
+      -4.86
+     ],
+     [
+      0.08,
+      -4.96
+     ],
+     [
+      0.18,
+      -4.96
+     ],
+     [
+      0.28,
+      -5.06
+     ],
+     [
+      0.28,
+      -5.36
+     ],
+     [
+      3.48,
+      -5.36
+     ],
+     [
+      3.48,
+      -2.66
+     ],
+     [
+      3.28,
+      -2.66
+     ],
+     [
+      3.18,
+      -2.56
+     ],
+     [
+      3.18,
+      -2.06
+     ],
+     [
+      3.28,
+      -1.96
+     ],
+     [
+      3.28,
+      -1.76
+     ],
+     [
+      3.38,
+      -1.66
+     ],
+     [
+      3.48,
+      -1.66
+     ],
+     [
+      3.48,
+      -1.06
+     ],
+     [
+      3.38,
+      -1.06
+     ],
+     [
+      3.28,
+      -0.96
+     ],
+     [
+      3.28,
+      0.54
+     ],
+     [
+      3.18,
+      0.64
+     ],
+     [
+      3.18,
+      1.34
+     ],
+     [
+      2.58,
+      1.34
+     ],
+     [
+      2.48,
+      1.44
+     ],
+     [
+      2.48,
+      1.54
+     ],
+     [
+      -1.42,
+      1.54
+     ],
+     [
+      -1.42,
+      1.04
+     ],
+     [
+      -1.12,
+      1.04
+     ],
+     [
+      -1.02,
+      0.94
+     ],
+     [
+      -1.02,
+      0.74
+     ],
+     [
+      -0.92,
+      0.64
+     ],
+     [
+      -0.92,
+      -0.06
+     ],
+     [
+      -1.22,
+      -0.36
+     ],
+     [
+      -1.42,
+      -0.36
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897508.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897508.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ee4e01c0e8ba0b2a5ac2ee667ebede5e6db22e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897508.json	
@@ -0,0 +1,682 @@
+{
+ "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": [
+      2.23,
+      4.13,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.3,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.73,
+      4.76,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.27,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.74,
+      1.5,
+      -0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.22,
+      0.32
+     ],
+     "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": 0.33
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.04,
+      0.18,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.39,
+      0.03
+     ],
+     "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": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      3.19,
+      -0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.9,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.2,
+      4.52,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.33,
+      0.75,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.84,
+      0.81,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.07,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.29,
+      1.98,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.05,
+      0.27
+     ],
+     "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": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.48,
+      -1.1
+     ],
+     [
+      -1.18,
+      -1.1
+     ],
+     [
+      -1.08,
+      -1.2
+     ],
+     [
+      0.02,
+      -1.2
+     ],
+     [
+      0.12,
+      -1.3
+     ],
+     [
+      0.12,
+      -1.4
+     ],
+     [
+      2.42,
+      -1.4
+     ],
+     [
+      2.42,
+      -1.2
+     ],
+     [
+      2.52,
+      -1.1
+     ],
+     [
+      2.52,
+      0.2
+     ],
+     [
+      2.42,
+      0.3
+     ],
+     [
+      2.42,
+      0.9
+     ],
+     [
+      2.32,
+      1.0
+     ],
+     [
+      2.12,
+      1.0
+     ],
+     [
+      2.02,
+      1.1
+     ],
+     [
+      1.32,
+      1.1
+     ],
+     [
+      1.22,
+      1.2
+     ],
+     [
+      1.22,
+      1.5
+     ],
+     [
+      1.42,
+      1.7
+     ],
+     [
+      1.42,
+      1.8
+     ],
+     [
+      1.52,
+      1.9
+     ],
+     [
+      1.52,
+      2.3
+     ],
+     [
+      1.62,
+      2.4
+     ],
+     [
+      1.72,
+      2.4
+     ],
+     [
+      1.82,
+      2.5
+     ],
+     [
+      1.92,
+      2.5
+     ],
+     [
+      1.92,
+      2.6
+     ],
+     [
+      2.12,
+      2.8
+     ],
+     [
+      2.12,
+      3.4
+     ],
+     [
+      2.22,
+      3.5
+     ],
+     [
+      2.52,
+      3.5
+     ],
+     [
+      2.52,
+      3.7
+     ],
+     [
+      2.62,
+      3.8
+     ],
+     [
+      2.82,
+      3.8
+     ],
+     [
+      2.82,
+      4.6
+     ],
+     [
+      2.52,
+      4.6
+     ],
+     [
+      2.42,
+      4.7
+     ],
+     [
+      2.42,
+      5.1
+     ],
+     [
+      2.32,
+      5.2
+     ],
+     [
+      1.92,
+      5.2
+     ],
+     [
+      1.82,
+      5.3
+     ],
+     [
+      1.82,
+      5.4
+     ],
+     [
+      1.42,
+      5.4
+     ],
+     [
+      1.42,
+      5.3
+     ],
+     [
+      1.12,
+      5.0
+     ],
+     [
+      1.12,
+      4.6
+     ],
+     [
+      1.22,
+      4.5
+     ],
+     [
+      1.22,
+      4.4
+     ],
+     [
+      1.42,
+      4.4
+     ],
+     [
+      1.52,
+      4.3
+     ],
+     [
+      1.52,
+      4.1
+     ],
+     [
+      1.42,
+      4.0
+     ],
+     [
+      0.72,
+      4.0
+     ],
+     [
+      0.62,
+      4.1
+     ],
+     [
+      0.62,
+      4.5
+     ],
+     [
+      0.12,
+      4.5
+     ],
+     [
+      0.12,
+      4.1
+     ],
+     [
+      0.02,
+      4.0
+     ],
+     [
+      0.02,
+      3.7
+     ],
+     [
+      -0.08,
+      3.6
+     ],
+     [
+      -0.08,
+      3.0
+     ],
+     [
+      0.32,
+      3.0
+     ],
+     [
+      0.42,
+      3.1
+     ],
+     [
+      0.62,
+      3.1
+     ],
+     [
+      0.72,
+      3.0
+     ],
+     [
+      0.72,
+      2.7
+     ],
+     [
+      0.62,
+      2.6
+     ],
+     [
+      -0.08,
+      2.6
+     ],
+     [
+      -0.18,
+      2.5
+     ],
+     [
+      -0.18,
+      1.9
+     ],
+     [
+      -0.28,
+      1.8
+     ],
+     [
+      -0.28,
+      1.5
+     ],
+     [
+      -0.38,
+      1.4
+     ],
+     [
+      -0.88,
+      1.4
+     ],
+     [
+      -0.98,
+      1.3
+     ],
+     [
+      -0.98,
+      0.8
+     ],
+     [
+      -1.08,
+      0.7
+     ],
+     [
+      -1.48,
+      0.7
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897528.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897528.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5e0452a8c029448050f6098e4c07990ed5db53c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897528.json	
@@ -0,0 +1,538 @@
+{
+ "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": [
+      1.73,
+      -2.16,
+      -0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      2.17,
+      0.55,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      -0.37,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      1.09,
+      0.66
+     ],
+     "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": 1.67
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.76,
+      -2.17,
+      -0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      2.27,
+      0.75,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      0.23,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.27,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      -0.66,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      0.62,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      0.05,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.11,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.46,
+      -0.6
+     ],
+     [
+      -1.36,
+      -0.6
+     ],
+     [
+      -1.06,
+      -0.9
+     ],
+     [
+      -1.06,
+      -1.1
+     ],
+     [
+      -0.96,
+      -1.2
+     ],
+     [
+      -0.96,
+      -1.3
+     ],
+     [
+      -0.56,
+      -1.7
+     ],
+     [
+      -0.56,
+      -1.9
+     ],
+     [
+      -0.46,
+      -2.0
+     ],
+     [
+      -0.46,
+      -2.1
+     ],
+     [
+      -0.36,
+      -2.2
+     ],
+     [
+      0.14,
+      -2.2
+     ],
+     [
+      0.24,
+      -2.3
+     ],
+     [
+      0.24,
+      -2.4
+     ],
+     [
+      1.04,
+      -2.4
+     ],
+     [
+      1.24,
+      -2.6
+     ],
+     [
+      1.24,
+      -2.7
+     ],
+     [
+      1.44,
+      -2.9
+     ],
+     [
+      1.44,
+      -3.0
+     ],
+     [
+      1.54,
+      -3.1
+     ],
+     [
+      1.54,
+      -3.2
+     ],
+     [
+      1.64,
+      -3.2
+     ],
+     [
+      1.74,
+      -3.3
+     ],
+     [
+      1.74,
+      -3.4
+     ],
+     [
+      2.34,
+      -3.4
+     ],
+     [
+      2.34,
+      -3.2
+     ],
+     [
+      2.54,
+      -3.0
+     ],
+     [
+      2.64,
+      -3.0
+     ],
+     [
+      2.64,
+      -2.1
+     ],
+     [
+      2.54,
+      -2.1
+     ],
+     [
+      2.44,
+      -2.0
+     ],
+     [
+      2.34,
+      -2.0
+     ],
+     [
+      2.24,
+      -1.9
+     ],
+     [
+      2.14,
+      -1.9
+     ],
+     [
+      1.94,
+      -1.7
+     ],
+     [
+      1.84,
+      -1.7
+     ],
+     [
+      1.64,
+      -1.5
+     ],
+     [
+      1.54,
+      -1.5
+     ],
+     [
+      1.44,
+      -1.4
+     ],
+     [
+      1.44,
+      -1.0
+     ],
+     [
+      1.34,
+      -0.9
+     ],
+     [
+      1.34,
+      -0.6
+     ],
+     [
+      1.44,
+      -0.5
+     ],
+     [
+      1.44,
+      0.3
+     ],
+     [
+      1.14,
+      0.6
+     ],
+     [
+      1.14,
+      0.7
+     ],
+     [
+      0.74,
+      1.1
+     ],
+     [
+      0.74,
+      1.2
+     ],
+     [
+      0.64,
+      1.3
+     ],
+     [
+      0.64,
+      1.5
+     ],
+     [
+      -0.66,
+      1.5
+     ],
+     [
+      -0.66,
+      1.4
+     ],
+     [
+      -0.86,
+      1.2
+     ],
+     [
+      -0.96,
+      1.2
+     ],
+     [
+      -1.16,
+      1.0
+     ],
+     [
+      -1.26,
+      1.0
+     ],
+     [
+      -1.36,
+      0.9
+     ],
+     [
+      -1.46,
+      0.9
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897538.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897538.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91958b12a8feb154ba4f8d599099c8d38010ed6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897538.json	
@@ -0,0 +1,692 @@
+{
+ "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": [
+      1.21,
+      1.38,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.07,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      -1.09,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      1.99,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.19,
+      -0.2,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.27,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.06,
+      -2.45,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.27,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.3,
+      0.29,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.59,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.58,
+      -0.9,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.04,
+      0.66
+     ],
+     "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": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.83,
+      -0.57
+     ],
+     [
+      -1.73,
+      -0.57
+     ],
+     [
+      -1.53,
+      -0.77
+     ],
+     [
+      -1.53,
+      -0.87
+     ],
+     [
+      -1.43,
+      -0.97
+     ],
+     [
+      -1.43,
+      -1.17
+     ],
+     [
+      -1.33,
+      -1.27
+     ],
+     [
+      -1.33,
+      -1.37
+     ],
+     [
+      -1.13,
+      -1.57
+     ],
+     [
+      -1.13,
+      -1.67
+     ],
+     [
+      -1.03,
+      -1.77
+     ],
+     [
+      -1.03,
+      -1.87
+     ],
+     [
+      -0.93,
+      -1.97
+     ],
+     [
+      -0.93,
+      -2.27
+     ],
+     [
+      -0.83,
+      -2.37
+     ],
+     [
+      -0.83,
+      -2.47
+     ],
+     [
+      -0.73,
+      -2.57
+     ],
+     [
+      -0.73,
+      -2.67
+     ],
+     [
+      -0.53,
+      -2.87
+     ],
+     [
+      -0.53,
+      -3.07
+     ],
+     [
+      -0.43,
+      -3.17
+     ],
+     [
+      -0.43,
+      -3.27
+     ],
+     [
+      -0.23,
+      -3.47
+     ],
+     [
+      -0.23,
+      -3.57
+     ],
+     [
+      -0.13,
+      -3.67
+     ],
+     [
+      -0.13,
+      -3.77
+     ],
+     [
+      -0.03,
+      -3.87
+     ],
+     [
+      -0.03,
+      -3.97
+     ],
+     [
+      0.07,
+      -4.07
+     ],
+     [
+      0.07,
+      -4.17
+     ],
+     [
+      0.17,
+      -4.27
+     ],
+     [
+      0.17,
+      -4.37
+     ],
+     [
+      1.37,
+      -4.37
+     ],
+     [
+      1.37,
+      -4.27
+     ],
+     [
+      1.47,
+      -4.17
+     ],
+     [
+      1.67,
+      -4.17
+     ],
+     [
+      1.77,
+      -4.07
+     ],
+     [
+      1.87,
+      -4.07
+     ],
+     [
+      2.07,
+      -3.87
+     ],
+     [
+      2.17,
+      -3.87
+     ],
+     [
+      2.27,
+      -3.77
+     ],
+     [
+      2.47,
+      -3.77
+     ],
+     [
+      2.47,
+      -3.67
+     ],
+     [
+      2.57,
+      -3.57
+     ],
+     [
+      2.67,
+      -3.57
+     ],
+     [
+      2.77,
+      -3.47
+     ],
+     [
+      2.87,
+      -3.47
+     ],
+     [
+      2.97,
+      -3.37
+     ],
+     [
+      3.17,
+      -3.37
+     ],
+     [
+      3.27,
+      -3.27
+     ],
+     [
+      3.37,
+      -3.27
+     ],
+     [
+      3.47,
+      -3.17
+     ],
+     [
+      3.67,
+      -3.17
+     ],
+     [
+      3.67,
+      -1.67
+     ],
+     [
+      3.57,
+      -1.67
+     ],
+     [
+      3.47,
+      -1.57
+     ],
+     [
+      3.47,
+      -1.47
+     ],
+     [
+      3.27,
+      -1.27
+     ],
+     [
+      3.27,
+      -0.77
+     ],
+     [
+      3.37,
+      -0.67
+     ],
+     [
+      3.37,
+      -0.57
+     ],
+     [
+      3.47,
+      -0.47
+     ],
+     [
+      3.47,
+      0.03
+     ],
+     [
+      3.27,
+      0.23
+     ],
+     [
+      3.27,
+      0.33
+     ],
+     [
+      3.17,
+      0.33
+     ],
+     [
+      3.07,
+      0.43
+     ],
+     [
+      3.07,
+      0.63
+     ],
+     [
+      2.57,
+      0.63
+     ],
+     [
+      2.47,
+      0.53
+     ],
+     [
+      2.37,
+      0.53
+     ],
+     [
+      2.27,
+      0.43
+     ],
+     [
+      2.17,
+      0.43
+     ],
+     [
+      2.07,
+      0.33
+     ],
+     [
+      1.97,
+      0.33
+     ],
+     [
+      1.87,
+      0.23
+     ],
+     [
+      1.57,
+      0.23
+     ],
+     [
+      1.47,
+      0.33
+     ],
+     [
+      1.47,
+      1.03
+     ],
+     [
+      1.57,
+      1.13
+     ],
+     [
+      1.57,
+      1.73
+     ],
+     [
+      -0.43,
+      1.73
+     ],
+     [
+      -0.43,
+      1.63
+     ],
+     [
+      -0.53,
+      1.53
+     ],
+     [
+      -0.63,
+      1.53
+     ],
+     [
+      -0.73,
+      1.43
+     ],
+     [
+      -0.83,
+      1.43
+     ],
+     [
+      -0.93,
+      1.33
+     ],
+     [
+      -1.03,
+      1.33
+     ],
+     [
+      -1.13,
+      1.23
+     ],
+     [
+      -1.23,
+      1.23
+     ],
+     [
+      -1.43,
+      1.03
+     ],
+     [
+      -1.53,
+      1.03
+     ],
+     [
+      -1.63,
+      0.93
+     ],
+     [
+      -1.63,
+      0.73
+     ],
+     [
+      -1.73,
+      0.63
+     ],
+     [
+      -1.83,
+      0.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897550.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..816a1ea0f39df13b0ad11672e8e60328028f789b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897550.json	
@@ -0,0 +1,306 @@
+{
+ "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": [
+      0.35,
+      -0.39,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.64,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      -0.61,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.23,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      0.15,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.31,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.18,
+      -0.51
+     ],
+     [
+      -1.08,
+      -0.51
+     ],
+     [
+      -0.88,
+      -0.71
+     ],
+     [
+      -0.88,
+      -1.01
+     ],
+     [
+      -0.78,
+      -1.01
+     ],
+     [
+      -0.68,
+      -1.11
+     ],
+     [
+      -0.68,
+      -1.21
+     ],
+     [
+      1.12,
+      -1.21
+     ],
+     [
+      1.12,
+      -1.11
+     ],
+     [
+      1.32,
+      -0.91
+     ],
+     [
+      1.32,
+      -0.61
+     ],
+     [
+      1.52,
+      -0.41
+     ],
+     [
+      1.62,
+      -0.41
+     ],
+     [
+      1.62,
+      0.59
+     ],
+     [
+      1.52,
+      0.59
+     ],
+     [
+      1.22,
+      0.89
+     ],
+     [
+      1.12,
+      0.89
+     ],
+     [
+      0.82,
+      1.19
+     ],
+     [
+      0.72,
+      1.19
+     ],
+     [
+      0.32,
+      1.59
+     ],
+     [
+      -0.08,
+      1.59
+     ],
+     [
+      -0.18,
+      1.69
+     ],
+     [
+      -0.18,
+      1.99
+     ],
+     [
+      -0.28,
+      2.09
+     ],
+     [
+      -0.28,
+      2.19
+     ],
+     [
+      -1.18,
+      2.19
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897554.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897554.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5b1098a0f61032fad399692d0af22235d5f75b5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897554.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.08,
+      2.13,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.9,
+      0.79,
+      0.45
+     ],
+     "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": 1.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.89,
+      2.01,
+      -0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.16,
+      0.24
+     ],
+     "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": 2.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.65,
+      -1.9
+     ],
+     [
+      -1.55,
+      -1.9
+     ],
+     [
+      -1.45,
+      -2.0
+     ],
+     [
+      -1.45,
+      -2.1
+     ],
+     [
+      0.05,
+      -2.1
+     ],
+     [
+      0.05,
+      -2.0
+     ],
+     [
+      0.15,
+      -1.9
+     ],
+     [
+      0.25,
+      -1.9
+     ],
+     [
+      0.35,
+      -1.8
+     ],
+     [
+      0.35,
+      -1.6
+     ],
+     [
+      0.45,
+      -1.5
+     ],
+     [
+      0.55,
+      -1.5
+     ],
+     [
+      0.55,
+      -0.8
+     ],
+     [
+      0.65,
+      -0.7
+     ],
+     [
+      0.65,
+      -0.5
+     ],
+     [
+      0.75,
+      -0.4
+     ],
+     [
+      0.75,
+      -0.2
+     ],
+     [
+      0.85,
+      -0.1
+     ],
+     [
+      0.85,
+      0.0
+     ],
+     [
+      0.95,
+      0.1
+     ],
+     [
+      0.95,
+      0.2
+     ],
+     [
+      1.05,
+      0.3
+     ],
+     [
+      1.05,
+      0.5
+     ],
+     [
+      1.15,
+      0.6
+     ],
+     [
+      1.15,
+      0.7
+     ],
+     [
+      1.25,
+      0.8
+     ],
+     [
+      1.25,
+      1.0
+     ],
+     [
+      1.35,
+      1.1
+     ],
+     [
+      1.45,
+      1.1
+     ],
+     [
+      1.45,
+      2.7
+     ],
+     [
+      1.35,
+      2.7
+     ],
+     [
+      1.25,
+      2.8
+     ],
+     [
+      1.15,
+      2.8
+     ],
+     [
+      1.05,
+      2.9
+     ],
+     [
+      0.85,
+      2.9
+     ],
+     [
+      0.75,
+      3.0
+     ],
+     [
+      0.65,
+      3.0
+     ],
+     [
+      0.55,
+      3.1
+     ],
+     [
+      0.55,
+      3.2
+     ],
+     [
+      -0.85,
+      3.2
+     ],
+     [
+      -0.85,
+      3.1
+     ],
+     [
+      -1.05,
+      2.9
+     ],
+     [
+      -1.05,
+      2.7
+     ],
+     [
+      -1.15,
+      2.6
+     ],
+     [
+      -1.15,
+      2.5
+     ],
+     [
+      -1.25,
+      2.4
+     ],
+     [
+      -1.25,
+      2.3
+     ],
+     [
+      -1.35,
+      2.2
+     ],
+     [
+      -1.35,
+      1.9
+     ],
+     [
+      -1.45,
+      1.8
+     ],
+     [
+      -1.45,
+      1.4
+     ],
+     [
+      -1.55,
+      1.3
+     ],
+     [
+      -1.65,
+      1.3
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897564.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897564.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3bccb1785eba5ad1f785584be40bf22db80e2db
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897564.json	
@@ -0,0 +1,536 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "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": [
+      -1.68,
+      0.89,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.29,
+      0.3
+     ],
+     "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": 3.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.17,
+      0.94,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.41,
+      0.37
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.57,
+      0.48,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.27,
+      0.91
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.26,
+      0.37,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.39,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.73,
+      1.24,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.07,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.22,
+      0.85,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      1.06,
+      0.47
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      0.53,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.21,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      -1.61,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.46,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.19,
+      0.82,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.42,
+      0.73,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.76,
+      -0.47
+     ],
+     [
+      -2.66,
+      -0.47
+     ],
+     [
+      -2.16,
+      -0.97
+     ],
+     [
+      -2.16,
+      -1.07
+     ],
+     [
+      -2.06,
+      -1.17
+     ],
+     [
+      -2.06,
+      -1.37
+     ],
+     [
+      -1.66,
+      -1.77
+     ],
+     [
+      -1.66,
+      -2.17
+     ],
+     [
+      -0.56,
+      -2.17
+     ],
+     [
+      -0.56,
+      -2.07
+     ],
+     [
+      0.34,
+      -1.17
+     ],
+     [
+      0.34,
+      -1.07
+     ],
+     [
+      1.24,
+      -0.17
+     ],
+     [
+      1.24,
+      -0.07
+     ],
+     [
+      1.74,
+      0.43
+     ],
+     [
+      1.84,
+      0.43
+     ],
+     [
+      1.84,
+      1.53
+     ],
+     [
+      1.74,
+      1.53
+     ],
+     [
+      1.14,
+      2.13
+     ],
+     [
+      1.04,
+      2.13
+     ],
+     [
+      0.44,
+      2.73
+     ],
+     [
+      0.34,
+      2.73
+     ],
+     [
+      0.14,
+      2.93
+     ],
+     [
+      0.14,
+      3.03
+     ],
+     [
+      -0.86,
+      3.03
+     ],
+     [
+      -0.86,
+      2.93
+     ],
+     [
+      -1.46,
+      2.33
+     ],
+     [
+      -1.46,
+      2.23
+     ],
+     [
+      -2.06,
+      1.63
+     ],
+     [
+      -2.06,
+      1.53
+     ],
+     [
+      -2.46,
+      1.13
+     ],
+     [
+      -2.46,
+      1.03
+     ],
+     [
+      -2.66,
+      0.83
+     ],
+     [
+      -2.76,
+      0.83
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897629.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6afc3777768853b4bb8ca77f8857be7c7c0a9db
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897629.json	
@@ -0,0 +1,1014 @@
+{
+ "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": [
+      -1.54,
+      4.8,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.42,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.2,
+      3.41,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.44,
+      0.91
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.31,
+      3.16,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      0.47,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.56,
+      1.84,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.43,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.4,
+      2.93,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.35,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.39,
+      3.1,
+      -0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      2.07,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.23,
+      0.23,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.05,
+      1.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.35,
+      7.41,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      2.26,
+      1.27,
+      0.48
+     ],
+     "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": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.61,
+      5.0,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.22,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      4.77,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.43,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.65,
+      -0.91,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.46,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.98,
+      2.91,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      1.8,
+      0.47,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.05,
+      1.52,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.14,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.12,
+      3.52,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.09,
+      0.43
+     ],
+     "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": 2.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.98,
+      0.04
+     ],
+     [
+      -3.58,
+      0.04
+     ],
+     [
+      -3.48,
+      -0.06
+     ],
+     [
+      -3.38,
+      -0.06
+     ],
+     [
+      -3.08,
+      -0.36
+     ],
+     [
+      -2.98,
+      -0.36
+     ],
+     [
+      -2.88,
+      -0.46
+     ],
+     [
+      -2.78,
+      -0.46
+     ],
+     [
+      -2.68,
+      -0.56
+     ],
+     [
+      -2.48,
+      -0.56
+     ],
+     [
+      -2.38,
+      -0.66
+     ],
+     [
+      -2.28,
+      -0.66
+     ],
+     [
+      -2.18,
+      -0.76
+     ],
+     [
+      -2.18,
+      -1.36
+     ],
+     [
+      -2.08,
+      -1.46
+     ],
+     [
+      -2.08,
+      -1.56
+     ],
+     [
+      0.72,
+      -1.56
+     ],
+     [
+      0.72,
+      -1.16
+     ],
+     [
+      0.62,
+      -1.06
+     ],
+     [
+      0.62,
+      -0.46
+     ],
+     [
+      0.72,
+      -0.36
+     ],
+     [
+      0.82,
+      -0.36
+     ],
+     [
+      0.92,
+      -0.26
+     ],
+     [
+      0.92,
+      -0.16
+     ],
+     [
+      1.12,
+      0.04
+     ],
+     [
+      1.62,
+      0.04
+     ],
+     [
+      1.62,
+      0.94
+     ],
+     [
+      1.72,
+      1.04
+     ],
+     [
+      2.02,
+      1.04
+     ],
+     [
+      2.02,
+      1.24
+     ],
+     [
+      2.12,
+      1.34
+     ],
+     [
+      2.22,
+      1.34
+     ],
+     [
+      2.22,
+      1.44
+     ],
+     [
+      2.32,
+      1.54
+     ],
+     [
+      2.32,
+      1.64
+     ],
+     [
+      2.42,
+      1.74
+     ],
+     [
+      2.42,
+      2.34
+     ],
+     [
+      2.52,
+      2.44
+     ],
+     [
+      2.62,
+      2.44
+     ],
+     [
+      2.62,
+      4.14
+     ],
+     [
+      2.42,
+      4.14
+     ],
+     [
+      2.32,
+      4.24
+     ],
+     [
+      1.92,
+      4.24
+     ],
+     [
+      1.72,
+      4.44
+     ],
+     [
+      1.52,
+      4.44
+     ],
+     [
+      1.42,
+      4.54
+     ],
+     [
+      1.32,
+      4.54
+     ],
+     [
+      1.22,
+      4.64
+     ],
+     [
+      1.12,
+      4.64
+     ],
+     [
+      0.92,
+      4.84
+     ],
+     [
+      0.92,
+      5.34
+     ],
+     [
+      0.62,
+      5.34
+     ],
+     [
+      0.52,
+      5.44
+     ],
+     [
+      0.52,
+      5.94
+     ],
+     [
+      0.62,
+      6.04
+     ],
+     [
+      0.62,
+      6.74
+     ],
+     [
+      0.52,
+      6.74
+     ],
+     [
+      0.42,
+      6.84
+     ],
+     [
+      0.42,
+      7.24
+     ],
+     [
+      0.52,
+      7.34
+     ],
+     [
+      0.62,
+      7.34
+     ],
+     [
+      0.62,
+      7.74
+     ],
+     [
+      0.32,
+      7.74
+     ],
+     [
+      0.22,
+      7.84
+     ],
+     [
+      0.22,
+      8.44
+     ],
+     [
+      -0.88,
+      8.44
+     ],
+     [
+      -0.88,
+      8.34
+     ],
+     [
+      -0.98,
+      8.24
+     ],
+     [
+      -0.98,
+      8.14
+     ],
+     [
+      -1.08,
+      8.04
+     ],
+     [
+      -1.08,
+      7.34
+     ],
+     [
+      -0.98,
+      7.34
+     ],
+     [
+      -0.88,
+      7.24
+     ],
+     [
+      -0.88,
+      6.74
+     ],
+     [
+      -0.78,
+      6.64
+     ],
+     [
+      -0.78,
+      5.44
+     ],
+     [
+      -0.88,
+      5.34
+     ],
+     [
+      -1.18,
+      5.34
+     ],
+     [
+      -1.28,
+      5.44
+     ],
+     [
+      -1.48,
+      5.44
+     ],
+     [
+      -1.58,
+      5.54
+     ],
+     [
+      -1.78,
+      5.54
+     ],
+     [
+      -1.98,
+      5.74
+     ],
+     [
+      -2.48,
+      5.74
+     ],
+     [
+      -2.68,
+      5.54
+     ],
+     [
+      -2.88,
+      5.54
+     ],
+     [
+      -3.08,
+      5.74
+     ],
+     [
+      -3.18,
+      5.74
+     ],
+     [
+      -3.28,
+      5.84
+     ],
+     [
+      -3.98,
+      5.84
+     ],
+     [
+      -3.98,
+      4.94
+     ],
+     [
+      -3.88,
+      4.94
+     ],
+     [
+      -3.58,
+      4.64
+     ],
+     [
+      -3.58,
+      4.24
+     ],
+     [
+      -3.38,
+      4.24
+     ],
+     [
+      -3.28,
+      4.14
+     ],
+     [
+      -3.08,
+      4.14
+     ],
+     [
+      -2.98,
+      4.04
+     ],
+     [
+      -2.98,
+      3.24
+     ],
+     [
+      -2.78,
+      3.24
+     ],
+     [
+      -2.58,
+      3.04
+     ],
+     [
+      -2.58,
+      2.94
+     ],
+     [
+      -2.48,
+      2.84
+     ],
+     [
+      -2.48,
+      2.64
+     ],
+     [
+      -2.88,
+      2.24
+     ],
+     [
+      -2.88,
+      2.04
+     ],
+     [
+      -3.18,
+      1.74
+     ],
+     [
+      -3.68,
+      1.74
+     ],
+     [
+      -3.78,
+      1.64
+     ],
+     [
+      -3.78,
+      1.54
+     ],
+     [
+      -3.88,
+      1.44
+     ],
+     [
+      -3.98,
+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897647.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897647.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a5c8eacb66ac1cf6e873ad764674eb2d30640c2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897647.json	
@@ -0,0 +1,660 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.81,
+      -0.39,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.41,
+      0.19
+     ],
+     "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": 2.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.3,
+      -5.25,
+      2.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.29,
+      0.99
+     ],
+     "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": 4.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.04,
+      -0.88,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.64,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.05,
+      -0.23,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.39,
+      0.36
+     ],
+     "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": 3.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      -0.37,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.36,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.22,
+      -1.64,
+      1.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.15,
+      0.64
+     ],
+     "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": 1.83
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.73,
+      -5.29,
+      1.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.15,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.24,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.47,
+      -0.6,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.62,
+      0.91,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.4,
+       0.0
+      ],
+      [
+       -0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.99,
+      -0.78,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.09,
+      0.62
+     ],
+     "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": 4.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.5,
+      1.16,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.15,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.98,
+      -0.95
+     ],
+     [
+      -4.88,
+      -1.05
+     ],
+     [
+      -4.88,
+      -1.15
+     ],
+     [
+      -4.68,
+      -1.15
+     ],
+     [
+      -4.58,
+      -1.25
+     ],
+     [
+      -4.48,
+      -1.25
+     ],
+     [
+      -4.38,
+      -1.35
+     ],
+     [
+      -4.18,
+      -1.35
+     ],
+     [
+      -4.08,
+      -1.45
+     ],
+     [
+      -4.08,
+      -1.55
+     ],
+     [
+      -3.88,
+      -1.75
+     ],
+     [
+      -3.88,
+      -2.45
+     ],
+     [
+      -3.78,
+      -2.45
+     ],
+     [
+      -3.58,
+      -2.65
+     ],
+     [
+      -2.18,
+      -2.65
+     ],
+     [
+      -2.08,
+      -2.55
+     ],
+     [
+      -1.98,
+      -2.55
+     ],
+     [
+      -1.98,
+      -2.25
+     ],
+     [
+      -1.88,
+      -2.15
+     ],
+     [
+      -1.68,
+      -2.15
+     ],
+     [
+      -1.48,
+      -1.95
+     ],
+     [
+      -0.58,
+      -1.95
+     ],
+     [
+      -0.48,
+      -1.85
+     ],
+     [
+      -0.08,
+      -1.85
+     ],
+     [
+      -0.08,
+      -1.75
+     ],
+     [
+      0.02,
+      -1.65
+     ],
+     [
+      0.02,
+      -1.45
+     ],
+     [
+      0.12,
+      -1.35
+     ],
+     [
+      0.12,
+      -0.95
+     ],
+     [
+      0.22,
+      -0.85
+     ],
+     [
+      0.32,
+      -0.85
+     ],
+     [
+      0.32,
+      2.05
+     ],
+     [
+      -1.88,
+      2.05
+     ],
+     [
+      -1.88,
+      1.85
+     ],
+     [
+      -1.98,
+      1.75
+     ],
+     [
+      -2.28,
+      1.75
+     ],
+     [
+      -2.28,
+      1.55
+     ],
+     [
+      -2.38,
+      1.45
+     ],
+     [
+      -2.68,
+      1.45
+     ],
+     [
+      -2.78,
+      1.35
+     ],
+     [
+      -3.08,
+      1.35
+     ],
+     [
+      -3.18,
+      1.45
+     ],
+     [
+      -3.18,
+      1.75
+     ],
+     [
+      -3.28,
+      1.85
+     ],
+     [
+      -3.58,
+      1.85
+     ],
+     [
+      -3.68,
+      1.95
+     ],
+     [
+      -3.68,
+      2.05
+     ],
+     [
+      -4.58,
+      2.05
+     ],
+     [
+      -4.58,
+      1.75
+     ],
+     [
+      -4.68,
+      1.65
+     ],
+     [
+      -4.68,
+      1.25
+     ],
+     [
+      -4.78,
+      1.15
+     ],
+     [
+      -4.78,
+      0.85
+     ],
+     [
+      -4.88,
+      0.75
+     ],
+     [
+      -4.88,
+      0.25
+     ],
+     [
+      -4.98,
+      0.15
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897688.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897688.json
new file mode 100644
index 0000000000000000000000000000000000000000..70bb0ea08394477c0a0efe536bcb342612b28daf
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897688.json	
@@ -0,0 +1,390 @@
+{
+ "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": [
+      -0.26,
+      1.96,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.77,
+      1.26,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.5,
+      1.9,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.41,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.52,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.08,
+      3.29,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.31,
+      0.73
+     ],
+     "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": 1.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.52,
+      1.84,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.4,
+      0.85
+     ],
+     "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": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.3,
+      0.32,
+      -0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.38,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.92,
+      -1.32
+     ],
+     [
+      -1.72,
+      -1.32
+     ],
+     [
+      -1.62,
+      -1.42
+     ],
+     [
+      -1.62,
+      -1.52
+     ],
+     [
+      -0.62,
+      -1.52
+     ],
+     [
+      -0.62,
+      -1.42
+     ],
+     [
+      -0.52,
+      -1.32
+     ],
+     [
+      -0.22,
+      -1.32
+     ],
+     [
+      -0.12,
+      -1.22
+     ],
+     [
+      -0.02,
+      -1.22
+     ],
+     [
+      0.08,
+      -1.12
+     ],
+     [
+      1.98,
+      -1.12
+     ],
+     [
+      2.18,
+      -0.92
+     ],
+     [
+      2.18,
+      -0.32
+     ],
+     [
+      2.28,
+      -0.22
+     ],
+     [
+      2.88,
+      -0.22
+     ],
+     [
+      3.18,
+      0.08
+     ],
+     [
+      3.18,
+      0.28
+     ],
+     [
+      3.28,
+      0.38
+     ],
+     [
+      3.38,
+      0.38
+     ],
+     [
+      3.38,
+      2.48
+     ],
+     [
+      3.28,
+      2.48
+     ],
+     [
+      3.08,
+      2.68
+     ],
+     [
+      3.08,
+      3.38
+     ],
+     [
+      2.58,
+      3.38
+     ],
+     [
+      2.48,
+      3.48
+     ],
+     [
+      2.38,
+      3.48
+     ],
+     [
+      2.28,
+      3.58
+     ],
+     [
+      2.28,
+      3.68
+     ],
+     [
+      -1.92,
+      3.68
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897692.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..b72c6de90be149a5f21e748f71018491629f1eb6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42897692.json	
@@ -0,0 +1,542 @@
+{
+ "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": [
+      -2.13,
+      0.36,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.68,
+      0.69,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.02,
+      1.01,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.87,
+      0.61
+     ],
+     "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": 1.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.14,
+      2.06,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.29,
+      0.61
+     ],
+     "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": 3.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.31,
+      -1.27
+     ],
+     [
+      -4.11,
+      -1.27
+     ],
+     [
+      -4.01,
+      -1.37
+     ],
+     [
+      -3.91,
+      -1.37
+     ],
+     [
+      -3.81,
+      -1.47
+     ],
+     [
+      -3.71,
+      -1.47
+     ],
+     [
+      -3.61,
+      -1.57
+     ],
+     [
+      -3.51,
+      -1.57
+     ],
+     [
+      -3.31,
+      -1.77
+     ],
+     [
+      -2.81,
+      -1.77
+     ],
+     [
+      -2.81,
+      -1.37
+     ],
+     [
+      -2.71,
+      -1.27
+     ],
+     [
+      -2.51,
+      -1.27
+     ],
+     [
+      -2.31,
+      -1.47
+     ],
+     [
+      -2.21,
+      -1.47
+     ],
+     [
+      -2.11,
+      -1.57
+     ],
+     [
+      -1.81,
+      -1.57
+     ],
+     [
+      -1.71,
+      -1.67
+     ],
+     [
+      -1.71,
+      -1.87
+     ],
+     [
+      -1.81,
+      -1.97
+     ],
+     [
+      -1.81,
+      -2.37
+     ],
+     [
+      -1.71,
+      -2.37
+     ],
+     [
+      -1.61,
+      -2.47
+     ],
+     [
+      -1.51,
+      -2.47
+     ],
+     [
+      -1.41,
+      -2.57
+     ],
+     [
+      -1.31,
+      -2.57
+     ],
+     [
+      -1.21,
+      -2.67
+     ],
+     [
+      -1.11,
+      -2.67
+     ],
+     [
+      -1.01,
+      -2.77
+     ],
+     [
+      -1.01,
+      -2.87
+     ],
+     [
+      0.39,
+      -2.87
+     ],
+     [
+      0.39,
+      -2.27
+     ],
+     [
+      0.29,
+      -2.17
+     ],
+     [
+      0.29,
+      -2.07
+     ],
+     [
+      0.19,
+      -2.07
+     ],
+     [
+      0.09,
+      -1.97
+     ],
+     [
+      0.09,
+      -1.57
+     ],
+     [
+      0.19,
+      -1.47
+     ],
+     [
+      0.19,
+      -1.37
+     ],
+     [
+      0.39,
+      -1.17
+     ],
+     [
+      0.39,
+      -1.07
+     ],
+     [
+      0.49,
+      -0.97
+     ],
+     [
+      0.49,
+      -0.87
+     ],
+     [
+      0.59,
+      -0.77
+     ],
+     [
+      0.59,
+      -0.67
+     ],
+     [
+      0.79,
+      -0.47
+     ],
+     [
+      0.79,
+      -0.37
+     ],
+     [
+      0.89,
+      -0.27
+     ],
+     [
+      0.99,
+      -0.27
+     ],
+     [
+      0.99,
+      0.83
+     ],
+     [
+      0.79,
+      0.83
+     ],
+     [
+      0.69,
+      0.93
+     ],
+     [
+      0.59,
+      0.93
+     ],
+     [
+      0.39,
+      1.13
+     ],
+     [
+      0.29,
+      1.13
+     ],
+     [
+      0.19,
+      1.23
+     ],
+     [
+      0.09,
+      1.23
+     ],
+     [
+      -0.01,
+      1.33
+     ],
+     [
+      -0.11,
+      1.33
+     ],
+     [
+      -0.41,
+      1.63
+     ],
+     [
+      -0.41,
+      2.33
+     ],
+     [
+      -0.51,
+      2.43
+     ],
+     [
+      -0.71,
+      2.43
+     ],
+     [
+      -0.91,
+      2.63
+     ],
+     [
+      -0.91,
+      2.73
+     ],
+     [
+      -1.71,
+      2.73
+     ],
+     [
+      -1.71,
+      2.63
+     ],
+     [
+      -1.81,
+      2.53
+     ],
+     [
+      -2.11,
+      2.53
+     ],
+     [
+      -2.21,
+      2.63
+     ],
+     [
+      -2.21,
+      2.73
+     ],
+     [
+      -3.31,
+      2.73
+     ],
+     [
+      -3.31,
+      2.63
+     ],
+     [
+      -3.41,
+      2.53
+     ],
+     [
+      -3.41,
+      2.03
+     ],
+     [
+      -3.51,
+      1.93
+     ],
+     [
+      -3.61,
+      1.93
+     ],
+     [
+      -3.71,
+      1.83
+     ],
+     [
+      -3.71,
+      1.73
+     ],
+     [
+      -3.81,
+      1.63
+     ],
+     [
+      -3.81,
+      1.53
+     ],
+     [
+      -4.01,
+      1.33
+     ],
+     [
+      -4.01,
+      1.23
+     ],
+     [
+      -4.21,
+      1.03
+     ],
+     [
+      -4.31,
+      1.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898486.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..503fbb3bb00e60f8e7f8b0179ff30581678aa87f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898486.json	
@@ -0,0 +1,814 @@
+{
+ "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": [
+      -1.5,
+      -2.22,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.37,
+      0.88
+     ],
+     "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": 3.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.3,
+      -2.78,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.19,
+      0.94
+     ],
+     "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": 3.83
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.58,
+      0.0,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.11,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.42,
+       0.0
+      ],
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      -2.76,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.69,
+      0.72
+     ],
+     "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": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.9,
+      -3.58,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.14,
+      0.64
+     ],
+     "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": 3.67
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.47,
+      -1.41,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.55,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.63,
+       0.0
+      ],
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.85,
+      -2.82,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.48,
+      0.72,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.6,
+       0.0
+      ],
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.74,
+      -4.47,
+      -0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.23,
+      0.2
+     ],
+     "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": 2.83
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.09,
+      -3.05,
+      -0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      1.59,
+      0.45
+     ],
+     "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": 2.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.95,
+      0.25,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.12,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.39,
+       0.0
+      ],
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.49,
+      -5.65
+     ],
+     [
+      -5.09,
+      -5.65
+     ],
+     [
+      -4.99,
+      -5.55
+     ],
+     [
+      -4.69,
+      -5.55
+     ],
+     [
+      -4.59,
+      -5.65
+     ],
+     [
+      -4.59,
+      -6.05
+     ],
+     [
+      -2.59,
+      -6.05
+     ],
+     [
+      -2.59,
+      -5.95
+     ],
+     [
+      -2.49,
+      -5.85
+     ],
+     [
+      -2.29,
+      -5.85
+     ],
+     [
+      -2.19,
+      -5.95
+     ],
+     [
+      -2.19,
+      -6.05
+     ],
+     [
+      -1.29,
+      -6.05
+     ],
+     [
+      -1.29,
+      -5.55
+     ],
+     [
+      -1.39,
+      -5.45
+     ],
+     [
+      -1.39,
+      -5.25
+     ],
+     [
+      -1.29,
+      -5.15
+     ],
+     [
+      -1.29,
+      -4.75
+     ],
+     [
+      -1.39,
+      -4.65
+     ],
+     [
+      -1.39,
+      -4.45
+     ],
+     [
+      -1.49,
+      -4.35
+     ],
+     [
+      -1.49,
+      -4.05
+     ],
+     [
+      -1.39,
+      -3.95
+     ],
+     [
+      -1.39,
+      -3.65
+     ],
+     [
+      -1.19,
+      -3.45
+     ],
+     [
+      -1.19,
+      -3.35
+     ],
+     [
+      -1.09,
+      -3.25
+     ],
+     [
+      -1.09,
+      -3.15
+     ],
+     [
+      -0.99,
+      -3.05
+     ],
+     [
+      -0.69,
+      -3.05
+     ],
+     [
+      -0.59,
+      -3.15
+     ],
+     [
+      -0.59,
+      -3.35
+     ],
+     [
+      -0.69,
+      -3.45
+     ],
+     [
+      -0.69,
+      -3.55
+     ],
+     [
+      -0.79,
+      -3.65
+     ],
+     [
+      -0.79,
+      -3.75
+     ],
+     [
+      -0.99,
+      -3.95
+     ],
+     [
+      -0.99,
+      -4.55
+     ],
+     [
+      -0.79,
+      -4.75
+     ],
+     [
+      -0.69,
+      -4.75
+     ],
+     [
+      -0.59,
+      -4.85
+     ],
+     [
+      -0.59,
+      -5.05
+     ],
+     [
+      -0.49,
+      -5.15
+     ],
+     [
+      -0.29,
+      -5.15
+     ],
+     [
+      -0.19,
+      -5.25
+     ],
+     [
+      0.71,
+      -5.25
+     ],
+     [
+      0.71,
+      -3.65
+     ],
+     [
+      0.61,
+      -3.65
+     ],
+     [
+      0.41,
+      -3.45
+     ],
+     [
+      0.41,
+      -2.75
+     ],
+     [
+      0.51,
+      -2.65
+     ],
+     [
+      0.71,
+      -2.65
+     ],
+     [
+      0.71,
+      0.25
+     ],
+     [
+      0.61,
+      0.25
+     ],
+     [
+      0.51,
+      0.35
+     ],
+     [
+      0.51,
+      0.55
+     ],
+     [
+      0.41,
+      0.65
+     ],
+     [
+      0.41,
+      0.75
+     ],
+     [
+      -0.29,
+      0.75
+     ],
+     [
+      -0.29,
+      0.65
+     ],
+     [
+      -0.39,
+      0.55
+     ],
+     [
+      -0.59,
+      0.55
+     ],
+     [
+      -0.69,
+      0.45
+     ],
+     [
+      -0.79,
+      0.45
+     ],
+     [
+      -0.79,
+      0.05
+     ],
+     [
+      -0.89,
+      -0.05
+     ],
+     [
+      -0.89,
+      -0.45
+     ],
+     [
+      -0.99,
+      -0.55
+     ],
+     [
+      -1.49,
+      -0.55
+     ],
+     [
+      -1.59,
+      -0.45
+     ],
+     [
+      -1.59,
+      -0.15
+     ],
+     [
+      -1.49,
+      -0.05
+     ],
+     [
+      -1.49,
+      0.35
+     ],
+     [
+      -1.69,
+      0.35
+     ],
+     [
+      -1.79,
+      0.45
+     ],
+     [
+      -1.79,
+      0.75
+     ],
+     [
+      -3.39,
+      0.75
+     ],
+     [
+      -3.39,
+      0.55
+     ],
+     [
+      -3.59,
+      0.35
+     ],
+     [
+      -4.09,
+      0.35
+     ],
+     [
+      -4.29,
+      0.15
+     ],
+     [
+      -4.39,
+      0.15
+     ],
+     [
+      -4.49,
+      0.05
+     ],
+     [
+      -4.99,
+      0.05
+     ],
+     [
+      -5.19,
+      -0.15
+     ],
+     [
+      -5.29,
+      -0.15
+     ],
+     [
+      -5.39,
+      -0.25
+     ],
+     [
+      -5.49,
+      -0.25
+     ],
+     [
+      -5.49,
+      -3.35
+     ],
+     [
+      -5.39,
+      -3.35
+     ],
+     [
+      -5.29,
+      -3.45
+     ],
+     [
+      -5.29,
+      -3.65
+     ],
+     [
+      -5.39,
+      -3.75
+     ],
+     [
+      -5.49,
+      -3.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898527.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898527.json
new file mode 100644
index 0000000000000000000000000000000000000000..62b3754ba32dd0ec23a2022e8b5075106c74e14d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898527.json	
@@ -0,0 +1,686 @@
+{
+ "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": [
+      0.16,
+      0.89,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.14,
+      0.12
+     ],
+     "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": 2.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.51,
+      -1.51,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.35,
+      1.02
+     ],
+     "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": 4.0
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.11,
+      0.73,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.33,
+      0.82
+     ],
+     "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": 1.67
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.59,
+      0.17,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.57,
+      1.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.34,
+      -1.83,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.24,
+      1.02
+     ],
+     "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": 4.17
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.15,
+      -0.89,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.49,
+      0.05
+     ],
+     "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": 0.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.86,
+      -1.08,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      0.37,
+      0.07
+     ],
+     "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": 3.83
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.35,
+      0.4,
+      -0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.03,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.34,
+      -0.88
+     ],
+     [
+      -2.14,
+      -0.88
+     ],
+     [
+      -2.04,
+      -0.98
+     ],
+     [
+      -2.04,
+      -1.18
+     ],
+     [
+      -1.84,
+      -1.38
+     ],
+     [
+      -1.74,
+      -1.38
+     ],
+     [
+      -1.44,
+      -1.68
+     ],
+     [
+      -1.34,
+      -1.68
+     ],
+     [
+      -1.24,
+      -1.78
+     ],
+     [
+      -1.14,
+      -1.78
+     ],
+     [
+      -1.04,
+      -1.88
+     ],
+     [
+      -0.64,
+      -1.88
+     ],
+     [
+      -0.54,
+      -1.78
+     ],
+     [
+      -0.34,
+      -1.78
+     ],
+     [
+      -0.14,
+      -1.98
+     ],
+     [
+      -0.14,
+      -2.18
+     ],
+     [
+      -0.24,
+      -2.28
+     ],
+     [
+      -0.34,
+      -2.28
+     ],
+     [
+      -0.34,
+      -2.38
+     ],
+     [
+      -0.44,
+      -2.48
+     ],
+     [
+      -0.44,
+      -2.58
+     ],
+     [
+      -0.64,
+      -2.78
+     ],
+     [
+      -0.64,
+      -3.08
+     ],
+     [
+      -0.84,
+      -3.28
+     ],
+     [
+      -0.94,
+      -3.28
+     ],
+     [
+      -1.04,
+      -3.38
+     ],
+     [
+      -1.04,
+      -4.08
+     ],
+     [
+      0.36,
+      -4.08
+     ],
+     [
+      0.36,
+      -3.98
+     ],
+     [
+      0.46,
+      -3.88
+     ],
+     [
+      0.76,
+      -3.88
+     ],
+     [
+      0.96,
+      -3.68
+     ],
+     [
+      0.96,
+      -3.58
+     ],
+     [
+      1.16,
+      -3.38
+     ],
+     [
+      1.16,
+      -3.28
+     ],
+     [
+      1.36,
+      -3.08
+     ],
+     [
+      1.46,
+      -3.08
+     ],
+     [
+      1.46,
+      -2.98
+     ],
+     [
+      1.66,
+      -2.78
+     ],
+     [
+      1.66,
+      -2.68
+     ],
+     [
+      1.86,
+      -2.48
+     ],
+     [
+      1.86,
+      -2.38
+     ],
+     [
+      2.06,
+      -2.18
+     ],
+     [
+      2.06,
+      -2.08
+     ],
+     [
+      2.26,
+      -1.88
+     ],
+     [
+      2.26,
+      -1.78
+     ],
+     [
+      2.46,
+      -1.58
+     ],
+     [
+      2.46,
+      -1.48
+     ],
+     [
+      2.56,
+      -1.38
+     ],
+     [
+      2.66,
+      -1.38
+     ],
+     [
+      2.66,
+      -0.28
+     ],
+     [
+      2.56,
+      -0.28
+     ],
+     [
+      2.46,
+      -0.18
+     ],
+     [
+      2.36,
+      -0.18
+     ],
+     [
+      2.26,
+      -0.08
+     ],
+     [
+      2.26,
+      0.12
+     ],
+     [
+      2.06,
+      0.32
+     ],
+     [
+      1.96,
+      0.32
+     ],
+     [
+      1.76,
+      0.52
+     ],
+     [
+      1.66,
+      0.52
+     ],
+     [
+      1.46,
+      0.72
+     ],
+     [
+      0.86,
+      0.72
+     ],
+     [
+      0.66,
+      0.92
+     ],
+     [
+      0.66,
+      1.12
+     ],
+     [
+      0.46,
+      1.32
+     ],
+     [
+      0.36,
+      1.32
+     ],
+     [
+      0.26,
+      1.42
+     ],
+     [
+      0.26,
+      1.52
+     ],
+     [
+      -0.84,
+      1.52
+     ],
+     [
+      -0.84,
+      1.32
+     ],
+     [
+      -0.94,
+      1.22
+     ],
+     [
+      -1.34,
+      1.22
+     ],
+     [
+      -1.54,
+      1.02
+     ],
+     [
+      -1.54,
+      0.92
+     ],
+     [
+      -1.64,
+      0.82
+     ],
+     [
+      -1.64,
+      0.62
+     ],
+     [
+      -1.94,
+      0.32
+     ],
+     [
+      -2.34,
+      0.32
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898544.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898544.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0a1862a07be8cb4727a74259385d2f8d06ec8ca
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898544.json	
@@ -0,0 +1,530 @@
+{
+ "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": [
+      1.11,
+      -3.44,
+      -0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      2.06,
+      0.5,
+      0.5
+     ],
+     "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": 2.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.14,
+      -4.02,
+      -0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.09,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.6,
+       0.0
+      ],
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      2.03,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.22,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      -4.38,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.28,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.67,
+      -5.98
+     ],
+     [
+      -2.57,
+      -5.98
+     ],
+     [
+      -2.47,
+      -6.08
+     ],
+     [
+      -2.47,
+      -6.28
+     ],
+     [
+      1.23,
+      -6.28
+     ],
+     [
+      1.23,
+      -5.78
+     ],
+     [
+      1.33,
+      -5.68
+     ],
+     [
+      1.63,
+      -5.68
+     ],
+     [
+      1.63,
+      -5.28
+     ],
+     [
+      2.43,
+      -4.48
+     ],
+     [
+      2.53,
+      -4.48
+     ],
+     [
+      2.53,
+      -4.18
+     ],
+     [
+      2.63,
+      -4.08
+     ],
+     [
+      2.93,
+      -4.08
+     ],
+     [
+      2.93,
+      -2.88
+     ],
+     [
+      2.83,
+      -2.88
+     ],
+     [
+      2.73,
+      -2.78
+     ],
+     [
+      2.73,
+      -2.68
+     ],
+     [
+      2.63,
+      -2.68
+     ],
+     [
+      2.53,
+      -2.58
+     ],
+     [
+      2.53,
+      -2.38
+     ],
+     [
+      2.43,
+      -2.38
+     ],
+     [
+      2.33,
+      -2.28
+     ],
+     [
+      2.33,
+      -2.18
+     ],
+     [
+      2.13,
+      -1.98
+     ],
+     [
+      1.93,
+      -1.98
+     ],
+     [
+      1.63,
+      -1.68
+     ],
+     [
+      1.63,
+      -1.58
+     ],
+     [
+      1.53,
+      -1.58
+     ],
+     [
+      1.33,
+      -1.38
+     ],
+     [
+      1.33,
+      -1.28
+     ],
+     [
+      0.83,
+      -0.78
+     ],
+     [
+      0.83,
+      -0.58
+     ],
+     [
+      0.63,
+      -0.38
+     ],
+     [
+      0.63,
+      0.12
+     ],
+     [
+      0.53,
+      0.22
+     ],
+     [
+      0.53,
+      0.42
+     ],
+     [
+      0.43,
+      0.52
+     ],
+     [
+      0.43,
+      0.62
+     ],
+     [
+      -0.17,
+      0.62
+     ],
+     [
+      -0.27,
+      0.72
+     ],
+     [
+      -0.27,
+      1.22
+     ],
+     [
+      -0.37,
+      1.22
+     ],
+     [
+      -0.67,
+      1.52
+     ],
+     [
+      -1.17,
+      1.52
+     ],
+     [
+      -1.17,
+      1.12
+     ],
+     [
+      -0.87,
+      0.82
+     ],
+     [
+      -0.87,
+      0.52
+     ],
+     [
+      -0.97,
+      0.42
+     ],
+     [
+      -0.97,
+      0.32
+     ],
+     [
+      -1.07,
+      0.22
+     ],
+     [
+      -1.07,
+      -0.18
+     ],
+     [
+      -0.97,
+      -0.28
+     ],
+     [
+      -0.97,
+      -0.38
+     ],
+     [
+      -0.87,
+      -0.48
+     ],
+     [
+      -0.87,
+      -0.68
+     ],
+     [
+      -0.77,
+      -0.68
+     ],
+     [
+      -0.67,
+      -0.78
+     ],
+     [
+      -0.67,
+      -1.18
+     ],
+     [
+      -0.87,
+      -1.38
+     ],
+     [
+      -0.87,
+      -1.58
+     ],
+     [
+      -0.97,
+      -1.68
+     ],
+     [
+      -0.97,
+      -1.78
+     ],
+     [
+      -1.07,
+      -1.88
+     ],
+     [
+      -1.07,
+      -1.98
+     ],
+     [
+      -1.37,
+      -2.28
+     ],
+     [
+      -2.07,
+      -2.28
+     ],
+     [
+      -2.07,
+      -2.38
+     ],
+     [
+      -2.27,
+      -2.58
+     ],
+     [
+      -2.37,
+      -2.58
+     ],
+     [
+      -2.37,
+      -2.68
+     ],
+     [
+      -2.57,
+      -2.88
+     ],
+     [
+      -2.67,
+      -2.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898581.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898581.json
new file mode 100644
index 0000000000000000000000000000000000000000..a51499280fdde519f77612f9aa88f398372ea334
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898581.json	
@@ -0,0 +1,622 @@
+{
+ "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": [
+      0.08,
+      -1.55,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      1.49,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.43,
+      -2.09,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      1.91,
+      0.55
+     ],
+     "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": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      -2.09,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      0.22,
+      0.54
+     ],
+     "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": 4.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      -0.01,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.37,
+      0.41
+     ],
+     "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": 1.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.77,
+      -0.56,
+      -0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      1.28,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       -0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      -0.01,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.37,
+      0.41
+     ],
+     "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": 1.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.29,
+      0.37,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.44,
+      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": 1.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.19,
+      -3.45,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.05,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.43,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.92,
+      -3.89
+     ],
+     [
+      -2.32,
+      -3.89
+     ],
+     [
+      -2.32,
+      -3.69
+     ],
+     [
+      -1.92,
+      -3.29
+     ],
+     [
+      -1.62,
+      -3.29
+     ],
+     [
+      -1.52,
+      -3.39
+     ],
+     [
+      -1.52,
+      -3.49
+     ],
+     [
+      -0.92,
+      -3.49
+     ],
+     [
+      -0.82,
+      -3.59
+     ],
+     [
+      -0.82,
+      -3.89
+     ],
+     [
+      1.18,
+      -3.89
+     ],
+     [
+      1.18,
+      0.41
+     ],
+     [
+      0.88,
+      0.41
+     ],
+     [
+      0.78,
+      0.31
+     ],
+     [
+      0.58,
+      0.31
+     ],
+     [
+      0.48,
+      0.41
+     ],
+     [
+      0.48,
+      0.71
+     ],
+     [
+      0.18,
+      1.01
+     ],
+     [
+      -0.02,
+      1.01
+     ],
+     [
+      -0.12,
+      1.11
+     ],
+     [
+      -0.12,
+      1.21
+     ],
+     [
+      -1.92,
+      1.21
+     ],
+     [
+      -1.92,
+      1.11
+     ],
+     [
+      -2.02,
+      1.01
+     ],
+     [
+      -2.12,
+      1.01
+     ],
+     [
+      -2.22,
+      0.91
+     ],
+     [
+      -2.32,
+      0.91
+     ],
+     [
+      -2.42,
+      0.81
+     ],
+     [
+      -2.42,
+      0.61
+     ],
+     [
+      -2.52,
+      0.51
+     ],
+     [
+      -2.62,
+      0.51
+     ],
+     [
+      -2.72,
+      0.41
+     ],
+     [
+      -2.72,
+      0.01
+     ],
+     [
+      -2.62,
+      -0.09
+     ],
+     [
+      -2.52,
+      -0.09
+     ],
+     [
+      -2.42,
+      -0.19
+     ],
+     [
+      -2.42,
+      -0.29
+     ],
+     [
+      -2.32,
+      -0.29
+     ],
+     [
+      -2.02,
+      -0.59
+     ],
+     [
+      -1.92,
+      -0.59
+     ],
+     [
+      -1.82,
+      -0.69
+     ],
+     [
+      -1.32,
+      -0.69
+     ],
+     [
+      -1.22,
+      -0.79
+     ],
+     [
+      -1.22,
+      -1.19
+     ],
+     [
+      -1.32,
+      -1.29
+     ],
+     [
+      -1.42,
+      -1.29
+     ],
+     [
+      -1.52,
+      -1.39
+     ],
+     [
+      -1.52,
+      -1.49
+     ],
+     [
+      -1.62,
+      -1.59
+     ],
+     [
+      -1.62,
+      -1.79
+     ],
+     [
+      -1.72,
+      -1.89
+     ],
+     [
+      -1.92,
+      -1.89
+     ],
+     [
+      -2.02,
+      -1.79
+     ],
+     [
+      -2.02,
+      -1.29
+     ],
+     [
+      -2.12,
+      -1.19
+     ],
+     [
+      -2.62,
+      -1.19
+     ],
+     [
+      -2.62,
+      -1.59
+     ],
+     [
+      -2.52,
+      -1.69
+     ],
+     [
+      -2.52,
+      -2.49
+     ],
+     [
+      -2.72,
+      -2.69
+     ],
+     [
+      -3.22,
+      -2.69
+     ],
+     [
+      -3.32,
+      -2.79
+     ],
+     [
+      -3.92,
+      -2.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898817.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898817.json
new file mode 100644
index 0000000000000000000000000000000000000000..8872db3ae882580e87799b3ed5fe2b6d7f3119db
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898817.json	
@@ -0,0 +1,216 @@
+{
+ "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": [
+      1.12,
+      -0.15,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.05,
+      0.56
+     ],
+     "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": 1.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.58,
+      -1.14
+     ],
+     [
+      -1.48,
+      -1.14
+     ],
+     [
+      -1.38,
+      -1.24
+     ],
+     [
+      -0.98,
+      -1.24
+     ],
+     [
+      -0.88,
+      -1.34
+     ],
+     [
+      -0.88,
+      -1.44
+     ],
+     [
+      1.42,
+      -1.44
+     ],
+     [
+      1.42,
+      -1.34
+     ],
+     [
+      1.62,
+      -1.14
+     ],
+     [
+      1.62,
+      -1.04
+     ],
+     [
+      1.72,
+      -0.94
+     ],
+     [
+      1.92,
+      -0.94
+     ],
+     [
+      1.92,
+      1.06
+     ],
+     [
+      -1.08,
+      1.06
+     ],
+     [
+      -1.08,
+      0.96
+     ],
+     [
+      -1.28,
+      0.76
+     ],
+     [
+      -1.38,
+      0.76
+     ],
+     [
+      -1.38,
+      0.66
+     ],
+     [
+      -1.48,
+      0.56
+     ],
+     [
+      -1.58,
+      0.56
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898826.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f3d6e22e9458da6b1901df326648b635a42889b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898826.json	
@@ -0,0 +1,374 @@
+{
+ "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": [
+      0.53,
+      -0.1,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      0.9,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.39,
+      -0.3,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      1.33,
+      0.44
+     ],
+     "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": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.23,
+      -0.21
+     ],
+     [
+      -2.13,
+      -0.21
+     ],
+     [
+      -1.93,
+      -0.41
+     ],
+     [
+      -1.83,
+      -0.41
+     ],
+     [
+      -1.63,
+      -0.61
+     ],
+     [
+      -1.63,
+      -1.51
+     ],
+     [
+      -1.53,
+      -1.61
+     ],
+     [
+      -1.43,
+      -1.61
+     ],
+     [
+      -1.33,
+      -1.71
+     ],
+     [
+      -1.23,
+      -1.71
+     ],
+     [
+      -1.13,
+      -1.81
+     ],
+     [
+      -1.13,
+      -1.91
+     ],
+     [
+      0.47,
+      -1.91
+     ],
+     [
+      0.47,
+      -1.71
+     ],
+     [
+      0.57,
+      -1.61
+     ],
+     [
+      0.57,
+      -1.51
+     ],
+     [
+      0.87,
+      -1.21
+     ],
+     [
+      0.87,
+      -1.11
+     ],
+     [
+      1.07,
+      -0.91
+     ],
+     [
+      1.17,
+      -0.91
+     ],
+     [
+      1.17,
+      -0.71
+     ],
+     [
+      1.27,
+      -0.61
+     ],
+     [
+      1.37,
+      -0.61
+     ],
+     [
+      1.37,
+      -0.21
+     ],
+     [
+      1.47,
+      -0.11
+     ],
+     [
+      1.67,
+      -0.11
+     ],
+     [
+      1.67,
+      0.29
+     ],
+     [
+      1.77,
+      0.39
+     ],
+     [
+      1.87,
+      0.39
+     ],
+     [
+      1.87,
+      1.59
+     ],
+     [
+      1.77,
+      1.59
+     ],
+     [
+      1.67,
+      1.69
+     ],
+     [
+      1.47,
+      1.69
+     ],
+     [
+      1.27,
+      1.89
+     ],
+     [
+      1.17,
+      1.89
+     ],
+     [
+      1.07,
+      1.99
+     ],
+     [
+      1.07,
+      2.09
+     ],
+     [
+      -0.23,
+      2.09
+     ],
+     [
+      -0.23,
+      1.99
+     ],
+     [
+      -0.33,
+      1.89
+     ],
+     [
+      -0.33,
+      1.79
+     ],
+     [
+      -0.43,
+      1.69
+     ],
+     [
+      -0.73,
+      1.69
+     ],
+     [
+      -0.83,
+      1.79
+     ],
+     [
+      -1.03,
+      1.79
+     ],
+     [
+      -1.13,
+      1.89
+     ],
+     [
+      -1.13,
+      2.09
+     ],
+     [
+      -1.93,
+      2.09
+     ],
+     [
+      -1.93,
+      1.99
+     ],
+     [
+      -2.13,
+      1.79
+     ],
+     [
+      -2.23,
+      1.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898849.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898849.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4980ce41c1259c9aac46ae264cdbdbe3569d236
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898849.json	
@@ -0,0 +1,1015 @@
+{
+ "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": [
+      1.09,
+      -1.75,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      2.0,
+      0.71,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.34,
+       0.0
+      ],
+      [
+       -0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      -4.55,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.4,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.38,
+      -4.8,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.44,
+      0.23,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.64,
+      1.93,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.24,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      -7.44,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.05,
+      1.94
+     ],
+     "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": 4.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.22,
+      -0.92,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      1.28,
+      0.82,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -1.39,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.75,
+      0.89,
+      0.64
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.62,
+      0.86,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.18,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      -4.68,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.41,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.63,
+      -4.25,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.3,
+      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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.09,
+      -4.36,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.28,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      -5.53,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.74,
+      0.61,
+      0.84
+     ],
+     "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": 2.17
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.18,
+      -6.26,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.54,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.04,
+      -1.07,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.59,
+      0.35
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.39,
+      -6.07,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      2.07,
+      0.74,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      2.05,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.04,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.66,
+      -8.21
+     ],
+     [
+      1.54,
+      -8.21
+     ],
+     [
+      1.54,
+      -8.11
+     ],
+     [
+      1.74,
+      -7.91
+     ],
+     [
+      3.14,
+      -7.91
+     ],
+     [
+      3.34,
+      -8.11
+     ],
+     [
+      3.34,
+      -8.21
+     ],
+     [
+      4.14,
+      -8.21
+     ],
+     [
+      4.14,
+      -8.01
+     ],
+     [
+      4.34,
+      -7.81
+     ],
+     [
+      4.34,
+      -7.31
+     ],
+     [
+      4.44,
+      -7.21
+     ],
+     [
+      4.64,
+      -7.21
+     ],
+     [
+      4.64,
+      -6.81
+     ],
+     [
+      4.74,
+      -6.71
+     ],
+     [
+      4.74,
+      -5.91
+     ],
+     [
+      4.44,
+      -5.61
+     ],
+     [
+      4.44,
+      -5.31
+     ],
+     [
+      4.54,
+      -5.21
+     ],
+     [
+      4.54,
+      -4.91
+     ],
+     [
+      4.64,
+      -4.81
+     ],
+     [
+      4.74,
+      -4.81
+     ],
+     [
+      4.74,
+      -4.51
+     ],
+     [
+      4.84,
+      -4.41
+     ],
+     [
+      5.34,
+      -4.41
+     ],
+     [
+      5.44,
+      -4.51
+     ],
+     [
+      6.04,
+      -4.51
+     ],
+     [
+      6.04,
+      -2.41
+     ],
+     [
+      5.94,
+      -2.41
+     ],
+     [
+      5.84,
+      -2.31
+     ],
+     [
+      4.84,
+      -2.31
+     ],
+     [
+      4.64,
+      -2.11
+     ],
+     [
+      4.64,
+      -0.91
+     ],
+     [
+      4.74,
+      -0.81
+     ],
+     [
+      5.74,
+      -0.81
+     ],
+     [
+      5.84,
+      -0.71
+     ],
+     [
+      6.04,
+      -0.71
+     ],
+     [
+      6.04,
+      1.79
+     ],
+     [
+      5.74,
+      1.79
+     ],
+     [
+      5.64,
+      1.89
+     ],
+     [
+      5.64,
+      2.09
+     ],
+     [
+      5.24,
+      2.09
+     ],
+     [
+      5.14,
+      2.19
+     ],
+     [
+      5.14,
+      2.39
+     ],
+     [
+      -0.76,
+      2.39
+     ],
+     [
+      -0.76,
+      2.19
+     ],
+     [
+      -0.86,
+      2.09
+     ],
+     [
+      -0.86,
+      1.99
+     ],
+     [
+      -0.96,
+      1.89
+     ],
+     [
+      -1.06,
+      1.89
+     ],
+     [
+      -1.06,
+      1.09
+     ],
+     [
+      -1.16,
+      0.99
+     ],
+     [
+      -1.16,
+      0.39
+     ],
+     [
+      -1.06,
+      0.29
+     ],
+     [
+      -1.06,
+      0.09
+     ],
+     [
+      -1.16,
+      -0.01
+     ],
+     [
+      -1.16,
+      -0.41
+     ],
+     [
+      -1.06,
+      -0.51
+     ],
+     [
+      -1.06,
+      -0.91
+     ],
+     [
+      -1.16,
+      -1.01
+     ],
+     [
+      -1.26,
+      -1.01
+     ],
+     [
+      -1.26,
+      -1.31
+     ],
+     [
+      -1.36,
+      -1.41
+     ],
+     [
+      -1.36,
+      -2.31
+     ],
+     [
+      -1.46,
+      -2.41
+     ],
+     [
+      -1.46,
+      -3.61
+     ],
+     [
+      -1.56,
+      -3.71
+     ],
+     [
+      -1.66,
+      -3.71
+     ],
+     [
+      -1.66,
+      -4.31
+     ],
+     [
+      -1.46,
+      -4.31
+     ],
+     [
+      -1.36,
+      -4.41
+     ],
+     [
+      -1.36,
+      -4.81
+     ],
+     [
+      -1.46,
+      -4.91
+     ],
+     [
+      -1.46,
+      -5.11
+     ],
+     [
+      -1.56,
+      -5.21
+     ],
+     [
+      -1.66,
+      -5.21
+     ],
+     [
+      -1.66,
+      -5.91
+     ],
+     [
+      -1.56,
+      -5.91
+     ],
+     [
+      -1.46,
+      -6.01
+     ],
+     [
+      -1.46,
+      -6.31
+     ],
+     [
+      -0.96,
+      -6.31
+     ],
+     [
+      -0.76,
+      -6.51
+     ],
+     [
+      -0.76,
+      -6.71
+     ],
+     [
+      -0.86,
+      -6.81
+     ],
+     [
+      -1.06,
+      -6.81
+     ],
+     [
+      -1.16,
+      -6.71
+     ],
+     [
+      -1.66,
+      -6.71
+     ]
+    ],
+    "interior hole boundary coordinates": [
+     [
+      [
+       4.04,
+       -0.51
+      ],
+      [
+       3.94,
+       -0.41
+      ],
+      [
+       3.94,
+       -0.21
+      ],
+      [
+       4.14,
+       -0.01
+      ],
+      [
+       4.44,
+       -0.01
+      ],
+      [
+       4.64,
+       -0.21
+      ],
+      [
+       4.64,
+       -0.41
+      ],
+      [
+       4.54,
+       -0.51
+      ]
+     ]
+    ]
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898869.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42898869.json
new file mode 100644
index 0000000000000000000000000000000000000000..efe16dc4820d60bcc83d437c7ce7052b8a0d1abd
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/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"
+       ],
+       "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": [
+      -0.27,
+      0.91,
+      -1.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.54,
+      1.5
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.27,
+      0.97,
+      -0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.64,
+      1.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.79,
+      0.41,
+      -2.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.36,
+      0.66
+     ],
+     "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": 2.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.52,
+      -1.37
+     ],
+     [
+      0.58,
+      -1.37
+     ],
+     [
+      0.58,
+      1.43
+     ],
+     [
+      -3.52,
+      1.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899461.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899461.json
new file mode 100644
index 0000000000000000000000000000000000000000..d561f52d890d327284e2e3deea3281b16c76afd5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899461.json	
@@ -0,0 +1,794 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      -0.72,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.68,
+      3.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.29,
+       0.0
+      ],
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.81,
+      -0.58,
+      -0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.33,
+      0.44
+     ],
+     "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": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      -1.71,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.29,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.71,
+      0.82,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.42,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      -1.36,
+      -0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.03,
+      0.36
+     ],
+     "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": 5.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.28,
+      -1.24,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      2.13,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.67,
+      1.48,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.37,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.56,
+      2.43,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.52,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      1.62,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      1.04,
+      0.04
+     ],
+     "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": 2.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.1,
+      -0.88,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.0,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.42,
+       0.0
+      ],
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.32,
+      -0.25,
+      -0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.33,
+      0.43
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.44,
+      2.56,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.55,
+      0.48
+     ],
+     "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": 0.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.57,
+      2.68,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.03,
+      0.43
+     ],
+     "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": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.57,
+      2.59,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.09,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.6,
+      -0.87
+     ],
+     [
+      -1.0,
+      -0.87
+     ],
+     [
+      -0.9,
+      -0.97
+     ],
+     [
+      -0.9,
+      -1.37
+     ],
+     [
+      -0.8,
+      -1.47
+     ],
+     [
+      -0.8,
+      -1.97
+     ],
+     [
+      -0.7,
+      -2.07
+     ],
+     [
+      -0.6,
+      -2.07
+     ],
+     [
+      -0.5,
+      -2.17
+     ],
+     [
+      -0.3,
+      -2.17
+     ],
+     [
+      -0.2,
+      -2.27
+     ],
+     [
+      -0.2,
+      -2.37
+     ],
+     [
+      -0.1,
+      -2.47
+     ],
+     [
+      -0.1,
+      -2.77
+     ],
+     [
+      3.3,
+      -2.77
+     ],
+     [
+      3.3,
+      -2.67
+     ],
+     [
+      3.4,
+      -2.57
+     ],
+     [
+      4.1,
+      -2.57
+     ],
+     [
+      4.2,
+      -2.47
+     ],
+     [
+      4.6,
+      -2.47
+     ],
+     [
+      4.7,
+      -2.37
+     ],
+     [
+      4.8,
+      -2.37
+     ],
+     [
+      4.9,
+      -2.27
+     ],
+     [
+      5.4,
+      -2.27
+     ],
+     [
+      5.4,
+      -2.17
+     ],
+     [
+      5.6,
+      -1.97
+     ],
+     [
+      6.0,
+      -1.97
+     ],
+     [
+      6.0,
+      1.33
+     ],
+     [
+      5.9,
+      1.33
+     ],
+     [
+      5.8,
+      1.43
+     ],
+     [
+      5.8,
+      2.23
+     ],
+     [
+      5.7,
+      2.33
+     ],
+     [
+      5.7,
+      3.13
+     ],
+     [
+      5.6,
+      3.23
+     ],
+     [
+      5.6,
+      3.43
+     ],
+     [
+      2.3,
+      3.43
+     ],
+     [
+      2.3,
+      3.33
+     ],
+     [
+      2.2,
+      3.23
+     ],
+     [
+      1.9,
+      3.23
+     ],
+     [
+      1.8,
+      3.13
+     ],
+     [
+      1.7,
+      3.13
+     ],
+     [
+      1.6,
+      3.03
+     ],
+     [
+      1.2,
+      3.03
+     ],
+     [
+      1.1,
+      3.13
+     ],
+     [
+      0.5,
+      3.13
+     ],
+     [
+      0.4,
+      3.03
+     ],
+     [
+      -0.8,
+      3.03
+     ],
+     [
+      -0.8,
+      2.93
+     ],
+     [
+      -0.9,
+      2.83
+     ],
+     [
+      -1.0,
+      2.83
+     ],
+     [
+      -1.1,
+      2.73
+     ],
+     [
+      -1.2,
+      2.73
+     ],
+     [
+      -1.2,
+      1.73
+     ],
+     [
+      -1.1,
+      1.63
+     ],
+     [
+      -1.1,
+      0.73
+     ],
+     [
+      -1.2,
+      0.63
+     ],
+     [
+      -1.6,
+      0.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899612.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a211ba97cc76856b61102d43413fc714e367231
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899612.json	
@@ -0,0 +1,620 @@
+{
+ "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": [
+      1.49,
+      0.3,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      2.26,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.39,
+      3.1,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.65,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      2.45,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.43,
+      0.1
+     ],
+     "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": 4.67
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.71,
+      0.19,
+      -0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.03,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      2.4,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.46,
+      0.1
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.37,
+      3.73,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.33,
+      0.41
+     ],
+     "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": 3.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.29,
+      1.06,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.45,
+      0.7
+     ],
+     "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": 2.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.57,
+      0.1
+     ],
+     [
+      -1.77,
+      0.1
+     ],
+     [
+      -1.67,
+      0.2
+     ],
+     [
+      -1.47,
+      0.2
+     ],
+     [
+      -1.37,
+      0.1
+     ],
+     [
+      -1.37,
+      0.0
+     ],
+     [
+      -1.17,
+      0.0
+     ],
+     [
+      -1.07,
+      -0.1
+     ],
+     [
+      -1.07,
+      -0.3
+     ],
+     [
+      -1.27,
+      -0.5
+     ],
+     [
+      -1.37,
+      -0.5
+     ],
+     [
+      -1.47,
+      -0.6
+     ],
+     [
+      -1.47,
+      -1.2
+     ],
+     [
+      -1.37,
+      -1.3
+     ],
+     [
+      -1.37,
+      -1.6
+     ],
+     [
+      -1.27,
+      -1.7
+     ],
+     [
+      -1.27,
+      -1.9
+     ],
+     [
+      2.53,
+      -1.9
+     ],
+     [
+      2.53,
+      -1.8
+     ],
+     [
+      2.63,
+      -1.7
+     ],
+     [
+      3.23,
+      -1.7
+     ],
+     [
+      3.23,
+      0.1
+     ],
+     [
+      3.13,
+      0.1
+     ],
+     [
+      3.03,
+      0.2
+     ],
+     [
+      3.03,
+      1.1
+     ],
+     [
+      2.93,
+      1.2
+     ],
+     [
+      2.93,
+      1.7
+     ],
+     [
+      2.83,
+      1.8
+     ],
+     [
+      2.83,
+      2.1
+     ],
+     [
+      2.73,
+      2.2
+     ],
+     [
+      2.73,
+      2.4
+     ],
+     [
+      2.63,
+      2.5
+     ],
+     [
+      2.63,
+      3.3
+     ],
+     [
+      2.53,
+      3.4
+     ],
+     [
+      2.53,
+      3.7
+     ],
+     [
+      2.43,
+      3.8
+     ],
+     [
+      2.43,
+      4.0
+     ],
+     [
+      2.33,
+      4.1
+     ],
+     [
+      2.23,
+      4.1
+     ],
+     [
+      2.13,
+      4.2
+     ],
+     [
+      2.13,
+      4.6
+     ],
+     [
+      0.23,
+      4.6
+     ],
+     [
+      0.23,
+      4.5
+     ],
+     [
+      0.13,
+      4.4
+     ],
+     [
+      -0.27,
+      4.4
+     ],
+     [
+      -0.37,
+      4.5
+     ],
+     [
+      -0.37,
+      4.6
+     ],
+     [
+      -0.87,
+      4.6
+     ],
+     [
+      -0.87,
+      4.5
+     ],
+     [
+      -1.17,
+      4.2
+     ],
+     [
+      -1.27,
+      4.2
+     ],
+     [
+      -1.27,
+      3.6
+     ],
+     [
+      -1.17,
+      3.5
+     ],
+     [
+      -1.17,
+      3.2
+     ],
+     [
+      -0.47,
+      3.2
+     ],
+     [
+      -0.37,
+      3.1
+     ],
+     [
+      -0.37,
+      2.8
+     ],
+     [
+      -0.27,
+      2.7
+     ],
+     [
+      -0.27,
+      2.1
+     ],
+     [
+      -0.17,
+      2.0
+     ],
+     [
+      -0.17,
+      1.8
+     ],
+     [
+      -0.27,
+      1.7
+     ],
+     [
+      -0.47,
+      1.7
+     ],
+     [
+      -0.57,
+      1.6
+     ],
+     [
+      -1.37,
+      1.6
+     ],
+     [
+      -1.47,
+      1.5
+     ],
+     [
+      -1.57,
+      1.5
+     ],
+     [
+      -1.67,
+      1.4
+     ],
+     [
+      -2.27,
+      1.4
+     ],
+     [
+      -2.37,
+      1.3
+     ],
+     [
+      -2.57,
+      1.3
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899617.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899617.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1a3fc3a361377b07ed7df3cd4afb31d78ab1c1a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899617.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.13,
+      0.64,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      1.25,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.07,
+      2.99,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.27,
+      0.48
+     ],
+     "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": 4.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.07,
+      2.99,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.32,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.47,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       -0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      0.11,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.4,
+      0.22
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      -0.49,
+      -0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.27,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.87,
+      -1.31
+     ],
+     [
+      0.63,
+      -1.31
+     ],
+     [
+      0.63,
+      -1.11
+     ],
+     [
+      0.73,
+      -1.01
+     ],
+     [
+      0.73,
+      -0.91
+     ],
+     [
+      1.03,
+      -0.61
+     ],
+     [
+      1.03,
+      -0.51
+     ],
+     [
+      1.13,
+      -0.41
+     ],
+     [
+      1.13,
+      -0.31
+     ],
+     [
+      1.33,
+      -0.11
+     ],
+     [
+      1.33,
+      -0.01
+     ],
+     [
+      1.43,
+      0.09
+     ],
+     [
+      1.43,
+      0.19
+     ],
+     [
+      1.63,
+      0.39
+     ],
+     [
+      1.63,
+      0.49
+     ],
+     [
+      1.73,
+      0.59
+     ],
+     [
+      1.93,
+      0.59
+     ],
+     [
+      2.03,
+      0.69
+     ],
+     [
+      2.03,
+      2.19
+     ],
+     [
+      1.13,
+      2.19
+     ],
+     [
+      1.03,
+      2.09
+     ],
+     [
+      0.73,
+      2.09
+     ],
+     [
+      0.53,
+      1.89
+     ],
+     [
+      -0.27,
+      1.89
+     ],
+     [
+      -0.57,
+      1.59
+     ],
+     [
+      -0.57,
+      1.49
+     ],
+     [
+      -0.77,
+      1.29
+     ],
+     [
+      -0.87,
+      1.29
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899685.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899685.json
new file mode 100644
index 0000000000000000000000000000000000000000..aed27a6699fc7793b6fa710a38a0dabdf8a09fc5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899685.json	
@@ -0,0 +1,822 @@
+{
+ "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": [
+      1.3,
+      -0.06,
+      5.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.73,
+      2.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.17,
+      -0.36,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.04,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      -1.57,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.86,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      -1.89,
+      2.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.62,
+      0.21
+     ],
+     "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": 3.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      1.32,
+      -2.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.44,
+      0.08
+     ],
+     "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": 1.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.15,
+      -0.69,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      0.36,
+      0.7
+     ],
+     "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": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -0.03,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.09,
+      0.77
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      1.59,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.34,
+      1.76
+     ],
+     "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": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      0.7,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.41,
+      0.58,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.24,
+      1.13,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.22,
+      0.08
+     ],
+     "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": 3.67
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.35,
+      -0.05,
+      1.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.19,
+      0.43
+     ],
+     "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": 1.33
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.73,
+      1.85,
+      -1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.04,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.26,
+      -0.29,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      1.47,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      -1.76,
+      3.34
+     ],
+     "3D oriented bounding box dimensions": [
+      1.29,
+      0.67,
+      0.54
+     ],
+     "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": 1.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      0.71,
+      -0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.17,
+      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": 1.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      1.38,
+      3.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.55,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      -1.86,
+      3.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.34,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.17,
+      1.35,
+      -2.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.43,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.56,
+      -0.84
+     ],
+     [
+      -1.36,
+      -0.84
+     ],
+     [
+      -1.26,
+      -0.94
+     ],
+     [
+      -1.26,
+      -2.54
+     ],
+     [
+      1.84,
+      -2.54
+     ],
+     [
+      1.84,
+      1.96
+     ],
+     [
+      1.74,
+      1.96
+     ],
+     [
+      1.64,
+      2.06
+     ],
+     [
+      1.54,
+      2.06
+     ],
+     [
+      1.44,
+      2.16
+     ],
+     [
+      1.34,
+      2.16
+     ],
+     [
+      1.24,
+      2.26
+     ],
+     [
+      1.04,
+      2.26
+     ],
+     [
+      0.94,
+      2.36
+     ],
+     [
+      0.14,
+      2.36
+     ],
+     [
+      0.04,
+      2.46
+     ],
+     [
+      0.04,
+      2.66
+     ],
+     [
+      -0.06,
+      2.76
+     ],
+     [
+      -0.06,
+      2.96
+     ],
+     [
+      -0.16,
+      3.06
+     ],
+     [
+      -0.16,
+      3.16
+     ],
+     [
+      -1.06,
+      3.16
+     ],
+     [
+      -1.06,
+      2.86
+     ],
+     [
+      -1.16,
+      2.76
+     ],
+     [
+      -1.16,
+      2.46
+     ],
+     [
+      -1.26,
+      2.36
+     ],
+     [
+      -1.26,
+      1.66
+     ],
+     [
+      -1.16,
+      1.56
+     ],
+     [
+      -1.16,
+      1.06
+     ],
+     [
+      -1.26,
+      0.96
+     ],
+     [
+      -1.56,
+      0.96
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899696.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899696.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c843c19fd3db1bcf0098ec608c59707ac578da1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899696.json	
@@ -0,0 +1,1302 @@
+{
+ "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": [
+      -4.43,
+      -1.65,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      1.25,
+      0.62
+     ],
+     "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": 2.5
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.44,
+      1.19,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.6,
+      0.2
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.35,
+      1.29,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      1.45,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.26,
+       0.0
+      ],
+      [
+       -0.26,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.47,
+      0.38,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      1.4,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      5.35,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.65,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.37,
+      6.95,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.69,
+      0.53,
+      0.36
+     ],
+     "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": 4.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.78,
+      0.64,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      1.32,
+      0.52,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      5.48,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      1.25,
+      0.68
+     ],
+     "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": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.83,
+      4.56,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.31,
+      0.49
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      3.91,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      1.43,
+      0.14,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.43,
+       0.0
+      ],
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.18,
+      4.64,
+      -0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.22,
+      0.29
+     ],
+     "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": 4.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.62,
+      -0.42,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.41,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       -0.62,
+       0.0
+      ],
+      [
+       0.62,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.57,
+      3.36,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.02,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.54,
+      6.28
+     ],
+     [
+      1.64,
+      6.18
+     ],
+     [
+      1.64,
+      6.08
+     ],
+     [
+      2.14,
+      6.08
+     ],
+     [
+      2.34,
+      6.28
+     ],
+     [
+      2.34,
+      6.38
+     ],
+     [
+      2.44,
+      6.48
+     ],
+     [
+      2.64,
+      6.48
+     ],
+     [
+      2.74,
+      6.58
+     ],
+     [
+      2.84,
+      6.58
+     ],
+     [
+      2.94,
+      6.68
+     ],
+     [
+      2.94,
+      7.08
+     ],
+     [
+      3.04,
+      7.18
+     ],
+     [
+      3.04,
+      7.88
+     ],
+     [
+      2.34,
+      7.88
+     ],
+     [
+      2.34,
+      7.38
+     ],
+     [
+      2.24,
+      7.28
+     ],
+     [
+      2.14,
+      7.28
+     ],
+     [
+      2.14,
+      7.18
+     ],
+     [
+      2.04,
+      7.08
+     ],
+     [
+      1.74,
+      7.08
+     ],
+     [
+      1.64,
+      6.98
+     ],
+     [
+      1.64,
+      6.88
+     ],
+     [
+      1.54,
+      6.78
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -3.96,
+      -0.12
+     ],
+     [
+      -3.86,
+      -0.12
+     ],
+     [
+      -3.76,
+      -0.22
+     ],
+     [
+      -3.66,
+      -0.22
+     ],
+     [
+      -3.56,
+      -0.32
+     ],
+     [
+      -3.06,
+      -0.32
+     ],
+     [
+      -3.06,
+      -0.22
+     ],
+     [
+      -2.96,
+      -0.12
+     ],
+     [
+      -2.76,
+      -0.12
+     ],
+     [
+      -2.66,
+      -0.22
+     ],
+     [
+      -2.56,
+      -0.22
+     ],
+     [
+      -2.46,
+      -0.32
+     ],
+     [
+      -2.36,
+      -0.32
+     ],
+     [
+      -2.26,
+      -0.42
+     ],
+     [
+      -2.16,
+      -0.42
+     ],
+     [
+      -1.96,
+      -0.62
+     ],
+     [
+      -1.76,
+      -0.62
+     ],
+     [
+      -1.56,
+      -0.82
+     ],
+     [
+      -1.26,
+      -0.82
+     ],
+     [
+      -1.16,
+      -0.92
+     ],
+     [
+      -1.16,
+      -1.12
+     ],
+     [
+      -1.26,
+      -1.22
+     ],
+     [
+      -1.36,
+      -1.22
+     ],
+     [
+      -1.36,
+      -1.32
+     ],
+     [
+      -1.46,
+      -1.42
+     ],
+     [
+      -1.46,
+      -1.92
+     ],
+     [
+      -1.36,
+      -2.02
+     ],
+     [
+      -1.36,
+      -2.22
+     ],
+     [
+      -1.26,
+      -2.22
+     ],
+     [
+      -1.16,
+      -2.32
+     ],
+     [
+      -1.16,
+      -2.42
+     ],
+     [
+      -0.36,
+      -2.42
+     ],
+     [
+      -0.36,
+      -2.22
+     ],
+     [
+      -0.26,
+      -2.12
+     ],
+     [
+      -0.16,
+      -2.12
+     ],
+     [
+      -0.16,
+      -1.82
+     ],
+     [
+      0.04,
+      -1.62
+     ],
+     [
+      0.04,
+      -1.42
+     ],
+     [
+      0.14,
+      -1.32
+     ],
+     [
+      0.14,
+      -1.22
+     ],
+     [
+      0.34,
+      -1.02
+     ],
+     [
+      0.64,
+      -1.02
+     ],
+     [
+      0.64,
+      -0.92
+     ],
+     [
+      0.74,
+      -0.82
+     ],
+     [
+      0.74,
+      -0.72
+     ],
+     [
+      0.84,
+      -0.62
+     ],
+     [
+      0.84,
+      -0.52
+     ],
+     [
+      1.04,
+      -0.32
+     ],
+     [
+      1.04,
+      -0.22
+     ],
+     [
+      1.14,
+      -0.12
+     ],
+     [
+      1.14,
+      -0.02
+     ],
+     [
+      1.24,
+      0.08
+     ],
+     [
+      1.24,
+      0.18
+     ],
+     [
+      1.54,
+      0.48
+     ],
+     [
+      1.54,
+      0.58
+     ],
+     [
+      1.64,
+      0.68
+     ],
+     [
+      1.64,
+      0.78
+     ],
+     [
+      1.74,
+      0.88
+     ],
+     [
+      1.74,
+      1.28
+     ],
+     [
+      1.64,
+      1.38
+     ],
+     [
+      1.64,
+      1.98
+     ],
+     [
+      1.44,
+      2.18
+     ],
+     [
+      1.34,
+      2.18
+     ],
+     [
+      1.04,
+      2.48
+     ],
+     [
+      1.04,
+      2.98
+     ],
+     [
+      1.24,
+      3.18
+     ],
+     [
+      1.34,
+      3.18
+     ],
+     [
+      1.44,
+      3.28
+     ],
+     [
+      1.44,
+      3.68
+     ],
+     [
+      1.54,
+      3.78
+     ],
+     [
+      1.94,
+      3.78
+     ],
+     [
+      2.04,
+      3.68
+     ],
+     [
+      2.04,
+      3.48
+     ],
+     [
+      2.54,
+      3.48
+     ],
+     [
+      2.54,
+      3.58
+     ],
+     [
+      2.64,
+      3.68
+     ],
+     [
+      2.64,
+      3.98
+     ],
+     [
+      2.84,
+      4.18
+     ],
+     [
+      2.94,
+      4.18
+     ],
+     [
+      3.14,
+      4.38
+     ],
+     [
+      3.44,
+      4.38
+     ],
+     [
+      3.44,
+      4.58
+     ],
+     [
+      3.54,
+      4.68
+     ],
+     [
+      3.54,
+      5.28
+     ],
+     [
+      2.84,
+      5.28
+     ],
+     [
+      2.54,
+      4.98
+     ],
+     [
+      2.54,
+      4.88
+     ],
+     [
+      2.34,
+      4.68
+     ],
+     [
+      2.34,
+      4.58
+     ],
+     [
+      2.24,
+      4.48
+     ],
+     [
+      2.24,
+      4.28
+     ],
+     [
+      2.14,
+      4.18
+     ],
+     [
+      1.94,
+      4.18
+     ],
+     [
+      1.84,
+      4.28
+     ],
+     [
+      1.84,
+      4.38
+     ],
+     [
+      1.64,
+      4.38
+     ],
+     [
+      1.54,
+      4.48
+     ],
+     [
+      1.54,
+      4.78
+     ],
+     [
+      1.44,
+      4.88
+     ],
+     [
+      1.44,
+      5.08
+     ],
+     [
+      1.54,
+      5.18
+     ],
+     [
+      1.54,
+      5.68
+     ],
+     [
+      1.44,
+      5.78
+     ],
+     [
+      1.34,
+      5.78
+     ],
+     [
+      1.04,
+      6.08
+     ],
+     [
+      1.04,
+      6.18
+     ],
+     [
+      0.14,
+      6.18
+     ],
+     [
+      0.14,
+      6.08
+     ],
+     [
+      0.04,
+      5.98
+     ],
+     [
+      0.04,
+      5.78
+     ],
+     [
+      -0.06,
+      5.68
+     ],
+     [
+      -0.06,
+      5.28
+     ],
+     [
+      0.04,
+      5.18
+     ],
+     [
+      0.04,
+      4.98
+     ],
+     [
+      0.14,
+      4.88
+     ],
+     [
+      0.14,
+      4.48
+     ],
+     [
+      0.04,
+      4.38
+     ],
+     [
+      -0.66,
+      4.38
+     ],
+     [
+      -0.66,
+      3.78
+     ],
+     [
+      -0.76,
+      3.68
+     ],
+     [
+      -1.26,
+      3.68
+     ],
+     [
+      -1.36,
+      3.78
+     ],
+     [
+      -1.46,
+      3.78
+     ],
+     [
+      -1.66,
+      3.98
+     ],
+     [
+      -1.76,
+      3.98
+     ],
+     [
+      -1.86,
+      4.08
+     ],
+     [
+      -2.36,
+      4.08
+     ],
+     [
+      -2.56,
+      3.88
+     ],
+     [
+      -2.56,
+      3.78
+     ],
+     [
+      -2.66,
+      3.68
+     ],
+     [
+      -2.66,
+      3.58
+     ],
+     [
+      -2.86,
+      3.38
+     ],
+     [
+      -2.86,
+      3.28
+     ],
+     [
+      -2.96,
+      3.18
+     ],
+     [
+      -2.96,
+      3.08
+     ],
+     [
+      -3.16,
+      2.88
+     ],
+     [
+      -3.16,
+      2.78
+     ],
+     [
+      -3.26,
+      2.68
+     ],
+     [
+      -3.26,
+      2.58
+     ],
+     [
+      -3.36,
+      2.48
+     ],
+     [
+      -3.36,
+      2.38
+     ],
+     [
+      -3.46,
+      2.28
+     ],
+     [
+      -3.46,
+      2.18
+     ],
+     [
+      -3.56,
+      2.08
+     ],
+     [
+      -3.56,
+      1.98
+     ],
+     [
+      -3.66,
+      1.88
+     ],
+     [
+      -3.66,
+      1.78
+     ],
+     [
+      -3.76,
+      1.68
+     ],
+     [
+      -3.76,
+      1.48
+     ],
+     [
+      -3.86,
+      1.38
+     ],
+     [
+      -3.86,
+      0.98
+     ],
+     [
+      -3.96,
+      0.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -4.96,
+      -2.42
+     ],
+     [
+      -4.16,
+      -2.42
+     ],
+     [
+      -4.16,
+      -2.32
+     ],
+     [
+      -4.06,
+      -2.22
+     ],
+     [
+      -4.06,
+      -2.12
+     ],
+     [
+      -3.96,
+      -2.02
+     ],
+     [
+      -3.96,
+      -1.82
+     ],
+     [
+      -3.86,
+      -1.72
+     ],
+     [
+      -3.86,
+      -1.12
+     ],
+     [
+      -3.96,
+      -1.02
+     ],
+     [
+      -4.46,
+      -1.02
+     ],
+     [
+      -4.46,
+      -1.12
+     ],
+     [
+      -4.56,
+      -1.22
+     ],
+     [
+      -4.96,
+      -1.22
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899698.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899698.json
new file mode 100644
index 0000000000000000000000000000000000000000..f872d6d8b22c0ac94cc8439a68d7d3d977509971
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899698.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      -1.47,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.46,
+      0.77,
+      0.38
+     ],
+     "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": 0.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      -1.44,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.45,
+      0.8,
+      0.37
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      0.67,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.14,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.36,
+       0.0
+      ],
+      [
+       -0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.49,
+      -0.73
+     ],
+     [
+      -1.29,
+      -0.73
+     ],
+     [
+      -1.19,
+      -0.83
+     ],
+     [
+      -1.19,
+      -1.03
+     ],
+     [
+      -1.09,
+      -1.13
+     ],
+     [
+      -1.09,
+      -1.23
+     ],
+     [
+      -0.99,
+      -1.33
+     ],
+     [
+      -0.99,
+      -1.53
+     ],
+     [
+      -0.89,
+      -1.63
+     ],
+     [
+      -0.89,
+      -1.73
+     ],
+     [
+      -0.79,
+      -1.83
+     ],
+     [
+      -0.79,
+      -1.93
+     ],
+     [
+      -0.69,
+      -2.03
+     ],
+     [
+      -0.69,
+      -2.13
+     ],
+     [
+      -0.59,
+      -2.23
+     ],
+     [
+      -0.59,
+      -2.43
+     ],
+     [
+      1.01,
+      -2.43
+     ],
+     [
+      1.01,
+      -2.33
+     ],
+     [
+      1.21,
+      -2.13
+     ],
+     [
+      1.41,
+      -2.13
+     ],
+     [
+      1.51,
+      -2.03
+     ],
+     [
+      1.61,
+      -2.03
+     ],
+     [
+      1.71,
+      -1.93
+     ],
+     [
+      1.81,
+      -1.93
+     ],
+     [
+      1.81,
+      -0.73
+     ],
+     [
+      1.71,
+      -0.73
+     ],
+     [
+      1.61,
+      -0.63
+     ],
+     [
+      1.61,
+      -0.53
+     ],
+     [
+      1.51,
+      -0.43
+     ],
+     [
+      1.51,
+      -0.23
+     ],
+     [
+      1.41,
+      -0.13
+     ],
+     [
+      1.41,
+      -0.03
+     ],
+     [
+      1.31,
+      0.07
+     ],
+     [
+      1.31,
+      0.17
+     ],
+     [
+      1.21,
+      0.27
+     ],
+     [
+      1.21,
+      0.47
+     ],
+     [
+      1.11,
+      0.57
+     ],
+     [
+      1.11,
+      0.67
+     ],
+     [
+      1.01,
+      0.77
+     ],
+     [
+      1.01,
+      0.87
+     ],
+     [
+      0.91,
+      0.97
+     ],
+     [
+      0.91,
+      1.17
+     ],
+     [
+      -1.09,
+      1.17
+     ],
+     [
+      -1.09,
+      1.07
+     ],
+     [
+      -1.19,
+      0.97
+     ],
+     [
+      -1.49,
+      0.97
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899712.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899712.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c0408f95ede0f31df83bf78b257d1e56518d1dc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899712.json	
@@ -0,0 +1,842 @@
+{
+ "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": [
+      -3.11,
+      0.57,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.37,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.38,
+      1.63,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.82,
+      0.56
+     ],
+     "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": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.52,
+      0.8,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.32,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.94,
+      -0.04,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.1,
+      0.19
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.15,
+      -0.41,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.09,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.3,
+       0.0
+      ],
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.87,
+      -0.4,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.06,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       0.66,
+       0.0
+      ],
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.77,
+      -0.15,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      2.07,
+      0.08
+     ],
+     "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": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.32,
+      -0.17,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.59,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      0.6,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.23,
+      0.04
+     ],
+     "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": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.38,
+      0.24,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      1.13,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.44,
+      0.25,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      0.86,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.22,
+       0.0
+      ],
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.62,
+      2.09,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.47,
+      0.95
+     ],
+     "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": 4.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -7.51,
+      -0.22
+     ],
+     [
+      -7.21,
+      -0.22
+     ],
+     [
+      -7.11,
+      -0.32
+     ],
+     [
+      -6.91,
+      -0.32
+     ],
+     [
+      -6.81,
+      -0.42
+     ],
+     [
+      -6.61,
+      -0.42
+     ],
+     [
+      -6.51,
+      -0.52
+     ],
+     [
+      -5.81,
+      -0.52
+     ],
+     [
+      -5.81,
+      -0.32
+     ],
+     [
+      -5.61,
+      -0.12
+     ],
+     [
+      -5.51,
+      -0.12
+     ],
+     [
+      -5.41,
+      -0.02
+     ],
+     [
+      -5.21,
+      -0.02
+     ],
+     [
+      -5.11,
+      -0.12
+     ],
+     [
+      -5.01,
+      -0.12
+     ],
+     [
+      -4.91,
+      -0.22
+     ],
+     [
+      -4.91,
+      -0.52
+     ],
+     [
+      -4.81,
+      -0.52
+     ],
+     [
+      -4.71,
+      -0.62
+     ],
+     [
+      -4.61,
+      -0.62
+     ],
+     [
+      -4.51,
+      -0.72
+     ],
+     [
+      -4.31,
+      -0.72
+     ],
+     [
+      -4.21,
+      -0.82
+     ],
+     [
+      -3.91,
+      -0.82
+     ],
+     [
+      -3.81,
+      -0.92
+     ],
+     [
+      -3.21,
+      -0.92
+     ],
+     [
+      -3.11,
+      -1.02
+     ],
+     [
+      -2.91,
+      -1.02
+     ],
+     [
+      -2.81,
+      -1.12
+     ],
+     [
+      -2.51,
+      -1.12
+     ],
+     [
+      -2.41,
+      -1.22
+     ],
+     [
+      -2.21,
+      -1.22
+     ],
+     [
+      -2.11,
+      -1.32
+     ],
+     [
+      -1.91,
+      -1.32
+     ],
+     [
+      -1.81,
+      -1.42
+     ],
+     [
+      -1.81,
+      -1.52
+     ],
+     [
+      0.99,
+      -1.52
+     ],
+     [
+      0.99,
+      -0.52
+     ],
+     [
+      0.89,
+      -0.52
+     ],
+     [
+      0.79,
+      -0.42
+     ],
+     [
+      0.79,
+      0.38
+     ],
+     [
+      0.89,
+      0.48
+     ],
+     [
+      0.99,
+      0.48
+     ],
+     [
+      0.99,
+      2.48
+     ],
+     [
+      0.59,
+      2.48
+     ],
+     [
+      0.49,
+      2.58
+     ],
+     [
+      0.29,
+      2.58
+     ],
+     [
+      0.19,
+      2.68
+     ],
+     [
+      -0.11,
+      2.68
+     ],
+     [
+      -0.21,
+      2.78
+     ],
+     [
+      -0.61,
+      2.78
+     ],
+     [
+      -0.71,
+      2.88
+     ],
+     [
+      -0.91,
+      2.88
+     ],
+     [
+      -1.01,
+      2.98
+     ],
+     [
+      -1.21,
+      2.98
+     ],
+     [
+      -1.31,
+      3.08
+     ],
+     [
+      -1.61,
+      3.08
+     ],
+     [
+      -1.71,
+      3.18
+     ],
+     [
+      -1.71,
+      3.68
+     ],
+     [
+      -1.81,
+      3.78
+     ],
+     [
+      -1.81,
+      4.08
+     ],
+     [
+      -3.51,
+      4.08
+     ],
+     [
+      -3.51,
+      3.98
+     ],
+     [
+      -3.71,
+      3.78
+     ],
+     [
+      -4.01,
+      3.78
+     ],
+     [
+      -4.01,
+      3.28
+     ],
+     [
+      -4.11,
+      3.18
+     ],
+     [
+      -4.11,
+      2.88
+     ],
+     [
+      -4.21,
+      2.78
+     ],
+     [
+      -4.21,
+      2.58
+     ],
+     [
+      -4.41,
+      2.38
+     ],
+     [
+      -4.81,
+      2.38
+     ],
+     [
+      -5.01,
+      2.58
+     ],
+     [
+      -5.21,
+      2.58
+     ],
+     [
+      -5.31,
+      2.68
+     ],
+     [
+      -5.61,
+      2.68
+     ],
+     [
+      -5.71,
+      2.78
+     ],
+     [
+      -7.21,
+      2.78
+     ],
+     [
+      -7.21,
+      2.68
+     ],
+     [
+      -7.31,
+      2.58
+     ],
+     [
+      -7.31,
+      1.98
+     ],
+     [
+      -7.21,
+      1.88
+     ],
+     [
+      -7.21,
+      1.78
+     ],
+     [
+      -7.11,
+      1.68
+     ],
+     [
+      -7.11,
+      1.38
+     ],
+     [
+      -7.21,
+      1.28
+     ],
+     [
+      -7.51,
+      1.28
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899720.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899720.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a57bec4cb99ef8d536cf2941456f4d342f19dd0
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899720.json	
@@ -0,0 +1,440 @@
+{
+ "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": [
+      -0.78,
+      -0.15,
+      -0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      0.59,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.25,
+      2.06,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      1.32,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.91,
+      -0.09,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.33,
+      0.07
+     ],
+     "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": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      -0.06,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.54,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.55,
+      -0.78
+     ],
+     [
+      -1.35,
+      -0.78
+     ],
+     [
+      -1.25,
+      -0.88
+     ],
+     [
+      -1.05,
+      -0.88
+     ],
+     [
+      -0.85,
+      -1.08
+     ],
+     [
+      -0.85,
+      -1.18
+     ],
+     [
+      0.55,
+      -1.18
+     ],
+     [
+      0.55,
+      -1.08
+     ],
+     [
+      0.85,
+      -0.78
+     ],
+     [
+      1.25,
+      -0.78
+     ],
+     [
+      1.25,
+      -0.58
+     ],
+     [
+      1.35,
+      -0.48
+     ],
+     [
+      1.45,
+      -0.48
+     ],
+     [
+      1.45,
+      -0.18
+     ],
+     [
+      1.55,
+      -0.08
+     ],
+     [
+      1.65,
+      -0.08
+     ],
+     [
+      1.65,
+      0.42
+     ],
+     [
+      1.55,
+      0.52
+     ],
+     [
+      1.55,
+      1.22
+     ],
+     [
+      1.65,
+      1.32
+     ],
+     [
+      1.85,
+      1.32
+     ],
+     [
+      1.85,
+      2.32
+     ],
+     [
+      1.55,
+      2.32
+     ],
+     [
+      1.45,
+      2.42
+     ],
+     [
+      1.45,
+      2.72
+     ],
+     [
+      1.55,
+      2.82
+     ],
+     [
+      1.55,
+      3.02
+     ],
+     [
+      1.65,
+      3.12
+     ],
+     [
+      1.65,
+      3.52
+     ],
+     [
+      1.55,
+      3.52
+     ],
+     [
+      1.45,
+      3.62
+     ],
+     [
+      1.45,
+      3.72
+     ],
+     [
+      0.55,
+      3.72
+     ],
+     [
+      0.55,
+      3.42
+     ],
+     [
+      0.35,
+      3.22
+     ],
+     [
+      0.35,
+      3.12
+     ],
+     [
+      0.25,
+      3.02
+     ],
+     [
+      0.25,
+      2.22
+     ],
+     [
+      0.05,
+      2.02
+     ],
+     [
+      0.05,
+      1.72
+     ],
+     [
+      -0.15,
+      1.52
+     ],
+     [
+      -0.45,
+      1.52
+     ],
+     [
+      -0.45,
+      1.42
+     ],
+     [
+      -0.55,
+      1.32
+     ],
+     [
+      -0.75,
+      1.32
+     ],
+     [
+      -0.85,
+      1.22
+     ],
+     [
+      -1.15,
+      1.22
+     ],
+     [
+      -1.35,
+      1.02
+     ],
+     [
+      -1.35,
+      0.82
+     ],
+     [
+      -1.45,
+      0.72
+     ],
+     [
+      -1.55,
+      0.72
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899725.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899725.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a3ad005a999a37a4dba6652131b2027db037837
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899725.json	
@@ -0,0 +1,314 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      0.09,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      1.09,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.26,
+      0.54,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.52,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.46,
+       0.0
+      ],
+      [
+       -0.46,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      0.55,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.06,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.06,
+      -0.13
+     ],
+     [
+      -0.96,
+      -0.13
+     ],
+     [
+      -0.86,
+      -0.23
+     ],
+     [
+      -0.86,
+      -0.43
+     ],
+     [
+      -0.76,
+      -0.53
+     ],
+     [
+      -0.66,
+      -0.53
+     ],
+     [
+      -0.56,
+      -0.63
+     ],
+     [
+      -0.56,
+      -0.83
+     ],
+     [
+      -0.46,
+      -0.93
+     ],
+     [
+      -0.46,
+      -1.03
+     ],
+     [
+      0.74,
+      -1.03
+     ],
+     [
+      0.74,
+      -0.93
+     ],
+     [
+      0.94,
+      -0.73
+     ],
+     [
+      1.04,
+      -0.73
+     ],
+     [
+      1.14,
+      -0.63
+     ],
+     [
+      1.34,
+      -0.63
+     ],
+     [
+      1.44,
+      -0.53
+     ],
+     [
+      1.54,
+      -0.53
+     ],
+     [
+      1.54,
+      0.67
+     ],
+     [
+      1.44,
+      0.67
+     ],
+     [
+      1.34,
+      0.77
+     ],
+     [
+      1.34,
+      1.07
+     ],
+     [
+      1.24,
+      1.17
+     ],
+     [
+      1.24,
+      1.37
+     ],
+     [
+      -0.76,
+      1.37
+     ],
+     [
+      -0.76,
+      1.27
+     ],
+     [
+      -0.86,
+      1.17
+     ],
+     [
+      -1.06,
+      1.17
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899729.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899729.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e646f2f78ef2f4ab204a5b559564e24329ea713
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899729.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"
+      },
+      "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": [
+      4.25,
+      0.05,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.14,
+      0.18
+     ],
+     "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": 0.83
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.53,
+      0.28,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.56,
+      1.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.44,
+      -0.58,
+      -0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.32,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.03,
+      2.49,
+      1.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.17,
+      0.32
+     ],
+     "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": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.16,
+      -1.04
+     ],
+     [
+      -0.96,
+      -1.04
+     ],
+     [
+      -0.66,
+      -1.34
+     ],
+     [
+      -0.66,
+      -1.94
+     ],
+     [
+      1.54,
+      -1.94
+     ],
+     [
+      1.54,
+      -1.84
+     ],
+     [
+      1.64,
+      -1.74
+     ],
+     [
+      2.04,
+      -1.74
+     ],
+     [
+      2.14,
+      -1.64
+     ],
+     [
+      2.44,
+      -1.64
+     ],
+     [
+      2.54,
+      -1.54
+     ],
+     [
+      2.84,
+      -1.54
+     ],
+     [
+      2.94,
+      -1.44
+     ],
+     [
+      3.24,
+      -1.44
+     ],
+     [
+      3.34,
+      -1.34
+     ],
+     [
+      3.44,
+      -1.34
+     ],
+     [
+      3.54,
+      -1.24
+     ],
+     [
+      3.54,
+      -0.44
+     ],
+     [
+      3.64,
+      -0.34
+     ],
+     [
+      3.84,
+      -0.34
+     ],
+     [
+      3.94,
+      -0.44
+     ],
+     [
+      4.34,
+      -0.44
+     ],
+     [
+      4.34,
+      0.36
+     ],
+     [
+      4.04,
+      0.36
+     ],
+     [
+      3.94,
+      0.46
+     ],
+     [
+      3.94,
+      0.76
+     ],
+     [
+      3.64,
+      0.76
+     ],
+     [
+      3.44,
+      0.96
+     ],
+     [
+      3.44,
+      1.06
+     ],
+     [
+      3.34,
+      1.16
+     ],
+     [
+      3.34,
+      1.56
+     ],
+     [
+      3.24,
+      1.66
+     ],
+     [
+      3.24,
+      1.86
+     ],
+     [
+      3.34,
+      1.96
+     ],
+     [
+      3.34,
+      2.56
+     ],
+     [
+      3.24,
+      2.66
+     ],
+     [
+      3.24,
+      2.86
+     ],
+     [
+      3.14,
+      2.96
+     ],
+     [
+      3.14,
+      3.06
+     ],
+     [
+      3.04,
+      3.16
+     ],
+     [
+      3.04,
+      3.26
+     ],
+     [
+      2.54,
+      3.26
+     ],
+     [
+      2.54,
+      2.86
+     ],
+     [
+      2.64,
+      2.76
+     ],
+     [
+      2.64,
+      2.36
+     ],
+     [
+      2.54,
+      2.26
+     ],
+     [
+      1.64,
+      2.26
+     ],
+     [
+      1.54,
+      2.16
+     ],
+     [
+      1.34,
+      2.16
+     ],
+     [
+      1.24,
+      2.06
+     ],
+     [
+      1.04,
+      2.06
+     ],
+     [
+      0.94,
+      1.96
+     ],
+     [
+      0.34,
+      1.96
+     ],
+     [
+      0.24,
+      1.86
+     ],
+     [
+      -0.26,
+      1.86
+     ],
+     [
+      -0.36,
+      1.76
+     ],
+     [
+      -0.66,
+      1.76
+     ],
+     [
+      -0.76,
+      1.66
+     ],
+     [
+      -0.96,
+      1.66
+     ],
+     [
+      -1.06,
+      1.56
+     ],
+     [
+      -1.16,
+      1.56
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899739.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899739.json
new file mode 100644
index 0000000000000000000000000000000000000000..e09bb839a18077a595be8cc9d06c3f3ec13ff5c9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/42899739.json	
@@ -0,0 +1,470 @@
+{
+ "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": [
+      1.05,
+      -0.86,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.47,
+      1.02,
+      0.39
+     ],
+     "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": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.39,
+      -1.05,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.77,
+      0.14
+     ],
+     "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": 4.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.69,
+      -2.81
+     ],
+     [
+      -1.49,
+      -2.81
+     ],
+     [
+      -1.39,
+      -2.91
+     ],
+     [
+      -1.09,
+      -2.91
+     ],
+     [
+      -0.99,
+      -3.01
+     ],
+     [
+      -0.89,
+      -3.01
+     ],
+     [
+      -0.79,
+      -3.11
+     ],
+     [
+      -0.69,
+      -3.11
+     ],
+     [
+      -0.49,
+      -3.31
+     ],
+     [
+      -0.39,
+      -3.31
+     ],
+     [
+      -0.29,
+      -3.41
+     ],
+     [
+      -0.19,
+      -3.41
+     ],
+     [
+      -0.09,
+      -3.51
+     ],
+     [
+      0.01,
+      -3.51
+     ],
+     [
+      0.11,
+      -3.61
+     ],
+     [
+      0.21,
+      -3.61
+     ],
+     [
+      0.31,
+      -3.71
+     ],
+     [
+      0.31,
+      -3.81
+     ],
+     [
+      1.81,
+      -3.81
+     ],
+     [
+      1.81,
+      -3.71
+     ],
+     [
+      1.91,
+      -3.61
+     ],
+     [
+      1.91,
+      -2.91
+     ],
+     [
+      2.01,
+      -2.81
+     ],
+     [
+      2.21,
+      -2.81
+     ],
+     [
+      2.21,
+      -2.71
+     ],
+     [
+      2.31,
+      -2.61
+     ],
+     [
+      2.41,
+      -2.61
+     ],
+     [
+      2.41,
+      -2.51
+     ],
+     [
+      2.51,
+      -2.41
+     ],
+     [
+      2.51,
+      -2.31
+     ],
+     [
+      2.61,
+      -2.21
+     ],
+     [
+      2.61,
+      -2.11
+     ],
+     [
+      2.71,
+      -2.01
+     ],
+     [
+      2.71,
+      -1.91
+     ],
+     [
+      2.81,
+      -1.81
+     ],
+     [
+      2.81,
+      -1.71
+     ],
+     [
+      2.91,
+      -1.61
+     ],
+     [
+      3.01,
+      -1.61
+     ],
+     [
+      3.01,
+      -0.31
+     ],
+     [
+      2.81,
+      -0.31
+     ],
+     [
+      2.61,
+      -0.11
+     ],
+     [
+      2.51,
+      -0.11
+     ],
+     [
+      2.41,
+      -0.01
+     ],
+     [
+      2.31,
+      -0.01
+     ],
+     [
+      2.21,
+      0.09
+     ],
+     [
+      2.11,
+      0.09
+     ],
+     [
+      2.01,
+      0.19
+     ],
+     [
+      1.91,
+      0.19
+     ],
+     [
+      1.81,
+      0.29
+     ],
+     [
+      1.71,
+      0.29
+     ],
+     [
+      1.61,
+      0.39
+     ],
+     [
+      1.51,
+      0.39
+     ],
+     [
+      1.41,
+      0.49
+     ],
+     [
+      1.31,
+      0.49
+     ],
+     [
+      1.11,
+      0.69
+     ],
+     [
+      1.01,
+      0.69
+     ],
+     [
+      0.91,
+      0.79
+     ],
+     [
+      0.91,
+      0.89
+     ],
+     [
+      -0.59,
+      0.89
+     ],
+     [
+      -0.59,
+      0.69
+     ],
+     [
+      -0.69,
+      0.59
+     ],
+     [
+      -0.79,
+      0.59
+     ],
+     [
+      -0.89,
+      0.49
+     ],
+     [
+      -0.89,
+      0.39
+     ],
+     [
+      -0.99,
+      0.29
+     ],
+     [
+      -0.99,
+      0.09
+     ],
+     [
+      -1.09,
+      -0.01
+     ],
+     [
+      -1.29,
+      -0.01
+     ],
+     [
+      -1.29,
+      -0.21
+     ],
+     [
+      -1.39,
+      -0.31
+     ],
+     [
+      -1.39,
+      -0.51
+     ],
+     [
+      -1.49,
+      -0.61
+     ],
+     [
+      -1.49,
+      -0.91
+     ],
+     [
+      -1.59,
+      -1.01
+     ],
+     [
+      -1.69,
+      -1.01
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358436.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358436.json
new file mode 100644
index 0000000000000000000000000000000000000000..310b8b3ecffad0e4319ae3ca15ba0bd02771ed88
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358436.json	
@@ -0,0 +1,726 @@
+{
+ "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": [
+      -1.47,
+      4.12,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.29,
+      1.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.29,
+       0.0
+      ],
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      0.86,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.67,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.04,
+      2.41,
+      -0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.4,
+      0.53
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      2.28,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.21,
+      0.78
+     ],
+     "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": 0.0
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.66,
+      2.5,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.25,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      0.85,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      1.1,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      2.17,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.33,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.32,
+       0.0
+      ],
+      [
+       -0.32,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      4.87,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.89,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.27,
+      4.5,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      0.17,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.33,
+       0.0
+      ],
+      [
+       -0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.67,
+      5.06,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.1,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.45,
+       0.0
+      ],
+      [
+       -0.45,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.68,
+      3.96
+     ],
+     [
+      -2.58,
+      3.96
+     ],
+     [
+      -2.48,
+      3.86
+     ],
+     [
+      -2.48,
+      3.66
+     ],
+     [
+      -2.38,
+      3.56
+     ],
+     [
+      -2.38,
+      3.46
+     ],
+     [
+      -2.28,
+      3.36
+     ],
+     [
+      -2.28,
+      3.16
+     ],
+     [
+      -2.18,
+      3.16
+     ],
+     [
+      -2.08,
+      3.06
+     ],
+     [
+      -2.08,
+      2.76
+     ],
+     [
+      -1.98,
+      2.66
+     ],
+     [
+      -1.98,
+      2.46
+     ],
+     [
+      -1.88,
+      2.36
+     ],
+     [
+      -1.88,
+      2.26
+     ],
+     [
+      -1.78,
+      2.16
+     ],
+     [
+      -1.78,
+      1.96
+     ],
+     [
+      -1.68,
+      1.86
+     ],
+     [
+      -1.68,
+      1.76
+     ],
+     [
+      -1.58,
+      1.66
+     ],
+     [
+      -1.58,
+      1.56
+     ],
+     [
+      -1.48,
+      1.46
+     ],
+     [
+      -1.48,
+      1.26
+     ],
+     [
+      -1.28,
+      1.06
+     ],
+     [
+      -1.28,
+      0.86
+     ],
+     [
+      -1.18,
+      0.76
+     ],
+     [
+      -1.18,
+      0.66
+     ],
+     [
+      -1.08,
+      0.56
+     ],
+     [
+      -1.08,
+      0.36
+     ],
+     [
+      -0.98,
+      0.26
+     ],
+     [
+      -0.98,
+      0.16
+     ],
+     [
+      -0.68,
+      -0.14
+     ],
+     [
+      -0.68,
+      -0.54
+     ],
+     [
+      0.62,
+      -0.54
+     ],
+     [
+      0.62,
+      -0.24
+     ],
+     [
+      0.82,
+      -0.04
+     ],
+     [
+      1.02,
+      -0.04
+     ],
+     [
+      1.22,
+      0.16
+     ],
+     [
+      1.42,
+      0.16
+     ],
+     [
+      1.42,
+      1.46
+     ],
+     [
+      1.32,
+      1.46
+     ],
+     [
+      1.22,
+      1.56
+     ],
+     [
+      1.22,
+      1.66
+     ],
+     [
+      1.12,
+      1.76
+     ],
+     [
+      1.12,
+      2.06
+     ],
+     [
+      1.02,
+      2.16
+     ],
+     [
+      1.02,
+      2.56
+     ],
+     [
+      0.92,
+      2.66
+     ],
+     [
+      0.92,
+      2.86
+     ],
+     [
+      0.82,
+      2.96
+     ],
+     [
+      0.82,
+      3.06
+     ],
+     [
+      0.72,
+      3.06
+     ],
+     [
+      0.52,
+      3.26
+     ],
+     [
+      0.52,
+      3.46
+     ],
+     [
+      0.42,
+      3.56
+     ],
+     [
+      0.42,
+      3.66
+     ],
+     [
+      0.32,
+      3.76
+     ],
+     [
+      0.32,
+      3.86
+     ],
+     [
+      0.22,
+      3.96
+     ],
+     [
+      0.22,
+      4.06
+     ],
+     [
+      0.12,
+      4.16
+     ],
+     [
+      0.12,
+      4.36
+     ],
+     [
+      0.02,
+      4.46
+     ],
+     [
+      0.02,
+      4.66
+     ],
+     [
+      -0.08,
+      4.76
+     ],
+     [
+      -0.08,
+      4.86
+     ],
+     [
+      -0.18,
+      4.96
+     ],
+     [
+      -0.18,
+      5.06
+     ],
+     [
+      -0.28,
+      5.16
+     ],
+     [
+      -0.28,
+      5.36
+     ],
+     [
+      -0.38,
+      5.46
+     ],
+     [
+      -0.38,
+      5.66
+     ],
+     [
+      -2.68,
+      5.66
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358442.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358442.json
new file mode 100644
index 0000000000000000000000000000000000000000..e35daa5e43b0ce7a6d8b524d4681e2c0356b5201
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358442.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.89,
+      0.72,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.68,
+      0.85,
+      0.33
+     ],
+     "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": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.49,
+      0.94,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      2.13,
+      1.03,
+      0.67
+     ],
+     "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": 2.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      -0.99,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.15,
+      1.16
+     ],
+     "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": 0.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      -0.13,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.45,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.42,
+      -0.67,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.34,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.45,
+      -0.87
+     ],
+     [
+      -2.35,
+      -0.87
+     ],
+     [
+      -2.25,
+      -0.97
+     ],
+     [
+      -2.25,
+      -1.27
+     ],
+     [
+      -2.15,
+      -1.37
+     ],
+     [
+      -2.15,
+      -1.67
+     ],
+     [
+      -2.05,
+      -1.77
+     ],
+     [
+      -2.05,
+      -1.97
+     ],
+     [
+      -1.95,
+      -2.07
+     ],
+     [
+      -1.95,
+      -2.17
+     ],
+     [
+      0.55,
+      -2.17
+     ],
+     [
+      0.55,
+      -2.07
+     ],
+     [
+      0.65,
+      -1.97
+     ],
+     [
+      0.85,
+      -1.97
+     ],
+     [
+      0.95,
+      -1.87
+     ],
+     [
+      1.05,
+      -1.87
+     ],
+     [
+      1.15,
+      -1.77
+     ],
+     [
+      1.55,
+      -1.77
+     ],
+     [
+      1.55,
+      0.53
+     ],
+     [
+      1.35,
+      0.53
+     ],
+     [
+      1.25,
+      0.63
+     ],
+     [
+      1.25,
+      1.33
+     ],
+     [
+      1.15,
+      1.43
+     ],
+     [
+      1.15,
+      1.53
+     ],
+     [
+      1.05,
+      1.63
+     ],
+     [
+      1.05,
+      2.13
+     ],
+     [
+      0.35,
+      2.13
+     ],
+     [
+      0.25,
+      2.03
+     ],
+     [
+      0.15,
+      2.03
+     ],
+     [
+      0.05,
+      1.93
+     ],
+     [
+      -0.15,
+      1.93
+     ],
+     [
+      -0.25,
+      1.83
+     ],
+     [
+      -0.65,
+      1.83
+     ],
+     [
+      -0.75,
+      1.73
+     ],
+     [
+      -0.95,
+      1.73
+     ],
+     [
+      -1.05,
+      1.63
+     ],
+     [
+      -1.15,
+      1.63
+     ],
+     [
+      -1.25,
+      1.53
+     ],
+     [
+      -1.35,
+      1.53
+     ],
+     [
+      -1.45,
+      1.43
+     ],
+     [
+      -1.85,
+      1.43
+     ],
+     [
+      -1.95,
+      1.33
+     ],
+     [
+      -2.25,
+      1.33
+     ],
+     [
+      -2.35,
+      1.23
+     ],
+     [
+      -2.45,
+      1.23
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358451.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358451.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf19da70edcd6570f8fa48712c5da3c15e716498
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358451.json	
@@ -0,0 +1,210 @@
+{
+ "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": [
+      1.06,
+      -1.18,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.34,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.34,
+      -0.22,
+      -0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.51,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.32,
+      -1.87
+     ],
+     [
+      1.28,
+      -1.87
+     ],
+     [
+      1.28,
+      -1.77
+     ],
+     [
+      1.38,
+      -1.67
+     ],
+     [
+      1.78,
+      -1.67
+     ],
+     [
+      1.78,
+      2.63
+     ],
+     [
+      -0.72,
+      2.63
+     ],
+     [
+      -0.72,
+      2.53
+     ],
+     [
+      -0.82,
+      2.43
+     ],
+     [
+      -1.32,
+      2.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358499.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9f4d2c8f6aacd739b983078fc53d733e8cd5e8d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358499.json	
@@ -0,0 +1,1029 @@
+{
+ "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": [
+      -2.02,
+      1.34,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.29,
+      0.84
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.65,
+      0.07,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.32,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.81,
+      -0.26,
+      -0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.38,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.34,
+       0.0
+      ],
+      [
+       -0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.81,
+      0.31,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.03,
+      0.07
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.74,
+      1.09,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.11,
+      0.09
+     ],
+     "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": 0.33
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.73,
+      3.33,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.07,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      3.89,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.02,
+      0.84
+     ],
+     "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": 3.67
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.81,
+      -0.77,
+      -0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.18,
+      0.77
+     ],
+     "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": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.81,
+      -0.77,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.14,
+      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": 0.83
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      -1.42,
+      -0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      2.11,
+      0.51,
+      0.59
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      -1.07,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      1.81,
+      0.13,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.44,
+      3.91,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.44,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.4,
+      -1.46,
+      -0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      0.37,
+      0.76
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.9,
+      0.23,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      1.76,
+      0.57,
+      0.67
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      -0.33,
+      -0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.33,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.64,
+      0.94,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      0.06,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.21,
+      4.46,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.12,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.96,
+      -1.98
+     ],
+     [
+      -2.86,
+      -1.98
+     ],
+     [
+      -2.76,
+      -2.08
+     ],
+     [
+      -2.76,
+      -2.28
+     ],
+     [
+      -2.66,
+      -2.28
+     ],
+     [
+      -2.56,
+      -2.38
+     ],
+     [
+      -2.56,
+      -2.48
+     ],
+     [
+      -2.46,
+      -2.58
+     ],
+     [
+      -2.36,
+      -2.58
+     ],
+     [
+      -2.16,
+      -2.78
+     ],
+     [
+      -2.16,
+      -3.08
+     ],
+     [
+      -2.06,
+      -3.18
+     ],
+     [
+      -2.06,
+      -3.38
+     ],
+     [
+      -0.56,
+      -3.38
+     ],
+     [
+      -0.56,
+      -2.48
+     ],
+     [
+      -0.46,
+      -2.38
+     ],
+     [
+      0.24,
+      -2.38
+     ],
+     [
+      0.44,
+      -2.58
+     ],
+     [
+      0.44,
+      -3.38
+     ],
+     [
+      4.14,
+      -3.38
+     ],
+     [
+      4.14,
+      -1.98
+     ],
+     [
+      3.94,
+      -1.98
+     ],
+     [
+      3.84,
+      -1.88
+     ],
+     [
+      3.84,
+      -1.68
+     ],
+     [
+      3.94,
+      -1.58
+     ],
+     [
+      4.14,
+      -1.58
+     ],
+     [
+      4.14,
+      1.52
+     ],
+     [
+      3.74,
+      1.52
+     ],
+     [
+      3.64,
+      1.62
+     ],
+     [
+      3.44,
+      1.62
+     ],
+     [
+      3.34,
+      1.72
+     ],
+     [
+      3.34,
+      1.92
+     ],
+     [
+      1.74,
+      1.92
+     ],
+     [
+      1.74,
+      1.82
+     ],
+     [
+      1.64,
+      1.72
+     ],
+     [
+      1.54,
+      1.72
+     ],
+     [
+      1.44,
+      1.62
+     ],
+     [
+      0.74,
+      1.62
+     ],
+     [
+      0.64,
+      1.72
+     ],
+     [
+      0.64,
+      1.92
+     ],
+     [
+      0.74,
+      2.02
+     ],
+     [
+      0.84,
+      2.02
+     ],
+     [
+      0.84,
+      3.22
+     ],
+     [
+      0.74,
+      3.22
+     ],
+     [
+      0.64,
+      3.32
+     ],
+     [
+      0.64,
+      4.02
+     ],
+     [
+      0.14,
+      4.02
+     ],
+     [
+      0.04,
+      4.12
+     ],
+     [
+      0.04,
+      4.32
+     ],
+     [
+      0.14,
+      4.42
+     ],
+     [
+      0.64,
+      4.42
+     ],
+     [
+      0.64,
+      5.12
+     ],
+     [
+      0.34,
+      5.12
+     ],
+     [
+      0.24,
+      5.22
+     ],
+     [
+      0.04,
+      5.22
+     ],
+     [
+      -0.06,
+      5.32
+     ],
+     [
+      -0.06,
+      5.62
+     ],
+     [
+      -2.46,
+      5.62
+     ],
+     [
+      -2.46,
+      5.22
+     ],
+     [
+      -2.56,
+      5.12
+     ],
+     [
+      -2.96,
+      5.12
+     ],
+     [
+      -2.96,
+      2.92
+     ],
+     [
+      -2.56,
+      2.92
+     ],
+     [
+      -2.46,
+      2.82
+     ],
+     [
+      -2.46,
+      1.82
+     ],
+     [
+      -2.56,
+      1.72
+     ],
+     [
+      -2.96,
+      1.72
+     ]
+    ],
+    "interior hole boundary coordinates": [
+     [
+      [
+       2.54,
+       -1.68
+      ],
+      [
+       2.44,
+       -1.58
+      ],
+      [
+       2.44,
+       -1.28
+      ],
+      [
+       2.54,
+       -1.18
+      ],
+      [
+       2.64,
+       -1.18
+      ],
+      [
+       2.64,
+       -1.08
+      ],
+      [
+       2.74,
+       -0.98
+      ],
+      [
+       3.04,
+       -0.98
+      ],
+      [
+       3.24,
+       -1.18
+      ],
+      [
+       3.24,
+       -1.68
+      ],
+      [
+       3.34,
+       -1.78
+      ],
+      [
+       3.34,
+       -2.08
+      ],
+      [
+       3.44,
+       -2.08
+      ],
+      [
+       3.54,
+       -2.18
+      ],
+      [
+       3.54,
+       -2.58
+      ],
+      [
+       3.64,
+       -2.58
+      ],
+      [
+       3.74,
+       -2.68
+      ],
+      [
+       3.74,
+       -2.88
+      ],
+      [
+       3.64,
+       -2.98
+      ],
+      [
+       3.44,
+       -2.98
+      ],
+      [
+       3.34,
+       -2.88
+      ],
+      [
+       3.34,
+       -2.58
+      ],
+      [
+       2.64,
+       -2.58
+      ],
+      [
+       2.54,
+       -2.48
+      ]
+     ]
+    ]
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358518.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358518.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bbe37c0b4d828502c9e338c128564990be4c8b7
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358518.json	
@@ -0,0 +1,428 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.44,
+      0.58,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.27,
+      0.4
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      1.02,
+      2.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.42,
+      0.37
+     ],
+     "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": 0.17
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.37,
+      1.1,
+      2.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.06,
+      0.35
+     ],
+     "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": 0.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.33,
+      1.06,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      1.68,
+      0.61,
+      0.76
+     ],
+     "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": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.57,
+      0.92,
+      1.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.44,
+      1.93
+     ],
+     "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": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.13,
+      0.97,
+      3.45
+     ],
+     "3D oriented bounding box dimensions": [
+      1.3,
+      0.65,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.26,
+       0.0
+      ],
+      [
+       -0.26,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.55,
+      0.42,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.62,
+      0.92
+     ],
+     "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": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.1,
+      0.56,
+      3.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.35,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.84,
+      -0.91
+     ],
+     [
+      -2.74,
+      -0.91
+     ],
+     [
+      -2.64,
+      -1.01
+     ],
+     [
+      -2.64,
+      -1.41
+     ],
+     [
+      -1.54,
+      -1.41
+     ],
+     [
+      -1.54,
+      -1.31
+     ],
+     [
+      -1.44,
+      -1.21
+     ],
+     [
+      -1.14,
+      -1.21
+     ],
+     [
+      -1.04,
+      -1.11
+     ],
+     [
+      -0.84,
+      -1.11
+     ],
+     [
+      -0.74,
+      -1.21
+     ],
+     [
+      -0.74,
+      -1.41
+     ],
+     [
+      2.06,
+      -1.41
+     ],
+     [
+      2.06,
+      1.59
+     ],
+     [
+      -2.84,
+      1.59
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358536.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358536.json
new file mode 100644
index 0000000000000000000000000000000000000000..64d32d04fd083e7c48484bb5d2eca72ee28c90cf
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358536.json	
@@ -0,0 +1,522 @@
+{
+ "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,
+      -1.38,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.68,
+      1.11,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      -1.72,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      1.28,
+      0.34
+     ],
+     "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": 4.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      1.21,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.02,
+      1.25
+     ],
+     "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": 3.17
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.2,
+      -1.04,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.31,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.71,
+      -1.27,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.32,
+      0.41
+     ],
+     "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": 0.5
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.25,
+      -1.1,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.32,
+      0.85
+     ],
+     "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": 4.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.02,
+      -1.68
+     ],
+     [
+      -1.92,
+      -1.68
+     ],
+     [
+      -1.82,
+      -1.78
+     ],
+     [
+      -1.42,
+      -1.78
+     ],
+     [
+      -1.12,
+      -2.08
+     ],
+     [
+      -0.92,
+      -2.08
+     ],
+     [
+      -0.82,
+      -2.18
+     ],
+     [
+      -0.82,
+      -2.28
+     ],
+     [
+      0.98,
+      -2.28
+     ],
+     [
+      0.98,
+      -2.18
+     ],
+     [
+      1.08,
+      -2.08
+     ],
+     [
+      1.08,
+      -1.88
+     ],
+     [
+      1.18,
+      -1.78
+     ],
+     [
+      1.18,
+      -1.68
+     ],
+     [
+      1.28,
+      -1.58
+     ],
+     [
+      1.28,
+      -1.48
+     ],
+     [
+      1.38,
+      -1.38
+     ],
+     [
+      1.38,
+      -1.28
+     ],
+     [
+      1.48,
+      -1.18
+     ],
+     [
+      1.48,
+      -0.98
+     ],
+     [
+      1.58,
+      -0.88
+     ],
+     [
+      1.68,
+      -0.88
+     ],
+     [
+      1.68,
+      1.32
+     ],
+     [
+      1.58,
+      1.32
+     ],
+     [
+      1.48,
+      1.42
+     ],
+     [
+      1.28,
+      1.42
+     ],
+     [
+      1.18,
+      1.52
+     ],
+     [
+      1.08,
+      1.52
+     ],
+     [
+      0.98,
+      1.62
+     ],
+     [
+      0.78,
+      1.62
+     ],
+     [
+      0.58,
+      1.82
+     ],
+     [
+      0.58,
+      2.22
+     ],
+     [
+      0.38,
+      2.22
+     ],
+     [
+      0.28,
+      2.32
+     ],
+     [
+      0.18,
+      2.32
+     ],
+     [
+      0.08,
+      2.42
+     ],
+     [
+      0.08,
+      2.52
+     ],
+     [
+      -1.02,
+      2.52
+     ],
+     [
+      -1.02,
+      2.02
+     ],
+     [
+      -1.22,
+      1.82
+     ],
+     [
+      -1.22,
+      1.62
+     ],
+     [
+      -1.32,
+      1.52
+     ],
+     [
+      -1.32,
+      1.42
+     ],
+     [
+      -1.42,
+      1.32
+     ],
+     [
+      -1.42,
+      1.12
+     ],
+     [
+      -1.52,
+      1.02
+     ],
+     [
+      -1.52,
+      0.92
+     ],
+     [
+      -1.62,
+      0.82
+     ],
+     [
+      -1.62,
+      0.42
+     ],
+     [
+      -1.72,
+      0.32
+     ],
+     [
+      -1.72,
+      0.22
+     ],
+     [
+      -1.82,
+      0.12
+     ],
+     [
+      -1.82,
+      0.02
+     ],
+     [
+      -1.92,
+      -0.08
+     ],
+     [
+      -2.02,
+      -0.08
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358582.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358582.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec7b12fa1f1c5b15c887087842910c74dbe699e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/44358582.json	
@@ -0,0 +1,440 @@
+{
+ "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": [
+      -0.78,
+      1.23,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      1.76,
+      0.44,
+      0.32
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.41,
+      -0.26,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.18,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.34,
+      0.11,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.25,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.49,
+      1.27
+     ],
+     [
+      -2.99,
+      1.27
+     ],
+     [
+      -2.89,
+      1.17
+     ],
+     [
+      -2.89,
+      0.97
+     ],
+     [
+      -2.79,
+      0.87
+     ],
+     [
+      -2.79,
+      0.67
+     ],
+     [
+      -2.69,
+      0.57
+     ],
+     [
+      -2.69,
+      0.37
+     ],
+     [
+      -2.59,
+      0.27
+     ],
+     [
+      -2.59,
+      0.07
+     ],
+     [
+      -2.49,
+      -0.03
+     ],
+     [
+      -2.49,
+      -0.23
+     ],
+     [
+      -2.39,
+      -0.33
+     ],
+     [
+      -2.39,
+      -0.63
+     ],
+     [
+      -2.29,
+      -0.73
+     ],
+     [
+      -2.29,
+      -1.03
+     ],
+     [
+      -2.19,
+      -1.13
+     ],
+     [
+      -2.19,
+      -1.33
+     ],
+     [
+      -0.09,
+      -1.33
+     ],
+     [
+      -0.09,
+      -1.23
+     ],
+     [
+      0.01,
+      -1.13
+     ],
+     [
+      0.41,
+      -1.13
+     ],
+     [
+      0.61,
+      -0.93
+     ],
+     [
+      0.91,
+      -0.93
+     ],
+     [
+      0.91,
+      1.07
+     ],
+     [
+      0.81,
+      1.07
+     ],
+     [
+      0.71,
+      1.17
+     ],
+     [
+      0.71,
+      1.47
+     ],
+     [
+      0.61,
+      1.57
+     ],
+     [
+      0.61,
+      1.77
+     ],
+     [
+      0.51,
+      1.87
+     ],
+     [
+      0.51,
+      2.17
+     ],
+     [
+      0.41,
+      2.27
+     ],
+     [
+      0.41,
+      2.57
+     ],
+     [
+      0.31,
+      2.67
+     ],
+     [
+      0.31,
+      2.87
+     ],
+     [
+      0.21,
+      2.97
+     ],
+     [
+      0.21,
+      3.27
+     ],
+     [
+      0.11,
+      3.37
+     ],
+     [
+      0.11,
+      3.57
+     ],
+     [
+      0.01,
+      3.57
+     ],
+     [
+      -0.09,
+      3.67
+     ],
+     [
+      -0.09,
+      3.77
+     ],
+     [
+      -1.39,
+      3.77
+     ],
+     [
+      -1.39,
+      3.67
+     ],
+     [
+      -1.49,
+      3.57
+     ],
+     [
+      -1.69,
+      3.57
+     ],
+     [
+      -1.79,
+      3.47
+     ],
+     [
+      -2.09,
+      3.47
+     ],
+     [
+      -2.19,
+      3.37
+     ],
+     [
+      -2.49,
+      3.37
+     ],
+     [
+      -2.59,
+      3.27
+     ],
+     [
+      -2.79,
+      3.27
+     ],
+     [
+      -2.89,
+      3.17
+     ],
+     [
+      -3.09,
+      3.17
+     ],
+     [
+      -3.19,
+      3.07
+     ],
+     [
+      -3.29,
+      3.07
+     ],
+     [
+      -3.29,
+      2.87
+     ],
+     [
+      -3.39,
+      2.77
+     ],
+     [
+      -3.49,
+      2.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260856.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..00c39b95fd512f83b521180d8e74180efa75699b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260856.json	
@@ -0,0 +1,790 @@
+{
+ "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": [
+      -0.95,
+      0.33,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      1.79,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.48,
+      0.91,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      1.12,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.54,
+       0.0
+      ],
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.82,
+      0.04,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.8,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.01,
+      2.33,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.6,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.76,
+      -0.48,
+      -0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.44,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      -1.9,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.42,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.74,
+       0.0
+      ],
+      [
+       -0.74,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      1.01,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.55,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.73,
+      2.3,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      1.07,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.75,
+      2.18,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      1.42,
+      0.33,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       -0.53,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.97,
+      0.93,
+      -0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.27,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.49,
+       0.0
+      ],
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.08,
+      1.13
+     ],
+     [
+      -4.98,
+      1.13
+     ],
+     [
+      -4.88,
+      1.03
+     ],
+     [
+      -4.88,
+      0.93
+     ],
+     [
+      -4.78,
+      0.83
+     ],
+     [
+      -4.78,
+      0.73
+     ],
+     [
+      -4.48,
+      0.43
+     ],
+     [
+      -4.48,
+      0.33
+     ],
+     [
+      -4.28,
+      0.13
+     ],
+     [
+      -4.28,
+      0.03
+     ],
+     [
+      -4.18,
+      -0.07
+     ],
+     [
+      -4.18,
+      -0.17
+     ],
+     [
+      -4.08,
+      -0.27
+     ],
+     [
+      -4.08,
+      -0.37
+     ],
+     [
+      -3.78,
+      -0.67
+     ],
+     [
+      -3.78,
+      -0.77
+     ],
+     [
+      -3.58,
+      -0.97
+     ],
+     [
+      -3.58,
+      -1.07
+     ],
+     [
+      -3.48,
+      -1.17
+     ],
+     [
+      -3.48,
+      -1.27
+     ],
+     [
+      -3.28,
+      -1.47
+     ],
+     [
+      -3.28,
+      -1.57
+     ],
+     [
+      -3.18,
+      -1.67
+     ],
+     [
+      -3.18,
+      -1.77
+     ],
+     [
+      -2.98,
+      -1.97
+     ],
+     [
+      -2.98,
+      -2.07
+     ],
+     [
+      -2.68,
+      -2.37
+     ],
+     [
+      -2.68,
+      -2.57
+     ],
+     [
+      -0.88,
+      -2.57
+     ],
+     [
+      -0.88,
+      -2.37
+     ],
+     [
+      -0.78,
+      -2.27
+     ],
+     [
+      -0.68,
+      -2.27
+     ],
+     [
+      -0.68,
+      -1.87
+     ],
+     [
+      -0.58,
+      -1.77
+     ],
+     [
+      -0.48,
+      -1.77
+     ],
+     [
+      -0.28,
+      -1.57
+     ],
+     [
+      -0.18,
+      -1.57
+     ],
+     [
+      -0.08,
+      -1.47
+     ],
+     [
+      0.42,
+      -1.47
+     ],
+     [
+      0.52,
+      -1.37
+     ],
+     [
+      0.82,
+      -1.37
+     ],
+     [
+      0.82,
+      -1.27
+     ],
+     [
+      1.02,
+      -1.07
+     ],
+     [
+      1.22,
+      -1.07
+     ],
+     [
+      1.32,
+      -0.97
+     ],
+     [
+      1.52,
+      -0.97
+     ],
+     [
+      1.52,
+      -0.77
+     ],
+     [
+      1.62,
+      -0.67
+     ],
+     [
+      1.62,
+      -0.47
+     ],
+     [
+      1.72,
+      -0.37
+     ],
+     [
+      1.92,
+      -0.37
+     ],
+     [
+      1.92,
+      0.93
+     ],
+     [
+      1.82,
+      0.93
+     ],
+     [
+      1.62,
+      1.13
+     ],
+     [
+      1.62,
+      1.23
+     ],
+     [
+      1.42,
+      1.43
+     ],
+     [
+      1.42,
+      1.53
+     ],
+     [
+      1.32,
+      1.63
+     ],
+     [
+      1.32,
+      2.33
+     ],
+     [
+      1.22,
+      2.43
+     ],
+     [
+      1.22,
+      2.63
+     ],
+     [
+      1.32,
+      2.73
+     ],
+     [
+      1.32,
+      3.13
+     ],
+     [
+      -0.58,
+      3.13
+     ],
+     [
+      -0.58,
+      3.03
+     ],
+     [
+      -0.68,
+      2.93
+     ],
+     [
+      -0.78,
+      2.93
+     ],
+     [
+      -0.88,
+      2.83
+     ],
+     [
+      -0.98,
+      2.83
+     ],
+     [
+      -1.18,
+      2.63
+     ],
+     [
+      -1.38,
+      2.63
+     ],
+     [
+      -1.58,
+      2.43
+     ],
+     [
+      -1.68,
+      2.43
+     ],
+     [
+      -1.78,
+      2.33
+     ],
+     [
+      -1.88,
+      2.33
+     ],
+     [
+      -2.08,
+      2.13
+     ],
+     [
+      -2.18,
+      2.13
+     ],
+     [
+      -2.28,
+      2.03
+     ],
+     [
+      -2.38,
+      2.03
+     ],
+     [
+      -2.68,
+      1.73
+     ],
+     [
+      -2.98,
+      1.73
+     ],
+     [
+      -3.08,
+      1.83
+     ],
+     [
+      -3.38,
+      1.83
+     ],
+     [
+      -3.68,
+      2.13
+     ],
+     [
+      -3.68,
+      2.23
+     ],
+     [
+      -4.08,
+      2.63
+     ],
+     [
+      -4.08,
+      2.73
+     ],
+     [
+      -4.68,
+      2.73
+     ],
+     [
+      -4.88,
+      2.53
+     ],
+     [
+      -5.08,
+      2.53
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260900.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260900.json
new file mode 100644
index 0000000000000000000000000000000000000000..211ba94c9ae767799cf15688c878f49722b87fbf
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260900.json	
@@ -0,0 +1,496 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.27,
+      0.86,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.77,
+      0.57,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      0.47,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.62,
+      0.6,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      2.37,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.04,
+      0.85
+     ],
+     "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": 5.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      1.9,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.17,
+      0.04
+     ],
+     "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": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.34,
+      1.95,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.48,
+      0.12
+     ],
+     "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": 4.83
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      -0.38,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.16,
+      0.31
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      -0.46,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.32,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      -0.41,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.24,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.05,
+      0.35
+     ],
+     [
+      -0.95,
+      0.35
+     ],
+     [
+      -0.85,
+      0.25
+     ],
+     [
+      -0.85,
+      -0.15
+     ],
+     [
+      -0.75,
+      -0.25
+     ],
+     [
+      -0.75,
+      -0.95
+     ],
+     [
+      -0.65,
+      -1.05
+     ],
+     [
+      -0.65,
+      -1.35
+     ],
+     [
+      -0.55,
+      -1.45
+     ],
+     [
+      -0.35,
+      -1.45
+     ],
+     [
+      -0.25,
+      -1.55
+     ],
+     [
+      -0.25,
+      -1.75
+     ],
+     [
+      1.15,
+      -1.75
+     ],
+     [
+      1.15,
+      0.75
+     ],
+     [
+      1.05,
+      0.75
+     ],
+     [
+      0.95,
+      0.85
+     ],
+     [
+      0.95,
+      1.55
+     ],
+     [
+      0.85,
+      1.65
+     ],
+     [
+      0.85,
+      2.05
+     ],
+     [
+      0.75,
+      2.15
+     ],
+     [
+      0.75,
+      2.55
+     ],
+     [
+      0.65,
+      2.65
+     ],
+     [
+      0.65,
+      2.85
+     ],
+     [
+      0.55,
+      2.85
+     ],
+     [
+      0.45,
+      2.95
+     ],
+     [
+      0.25,
+      2.95
+     ],
+     [
+      0.15,
+      3.05
+     ],
+     [
+      0.15,
+      3.25
+     ],
+     [
+      -0.85,
+      3.25
+     ],
+     [
+      -0.85,
+      3.15
+     ],
+     [
+      -0.95,
+      3.05
+     ],
+     [
+      -1.05,
+      3.05
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260905.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260905.json
new file mode 100644
index 0000000000000000000000000000000000000000..d911ffeef2a28cbbc711c4d37f528f6039f9aaaf
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260905.json	
@@ -0,0 +1,738 @@
+{
+ "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": [
+      -2.49,
+      0.33,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      0.64,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.12,
+      -1.28,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.52,
+      1.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.77,
+      0.99,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.4,
+      0.17,
+      0.79
+     ],
+     "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": 1.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.12,
+      1.58,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      2.08,
+      0.64,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.26,
+       0.0
+      ],
+      [
+       -0.26,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.47,
+      0.19,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.74,
+      0.67
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      -1.32,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.55,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.32,
+      2.55,
+      -0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.35,
+      0.16
+     ],
+     "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": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.39,
+      -1.51,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.35,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.39,
+      0.16,
+      -0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.64,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.0,
+      1.47,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.51,
+      0.35
+     ],
+     "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": 1.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      -0.93,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.03,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.08,
+      -0.82,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.04,
+      0.51
+     ],
+     "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": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.37,
+      -1.22
+     ],
+     [
+      -4.27,
+      -1.22
+     ],
+     [
+      -4.17,
+      -1.32
+     ],
+     [
+      -4.17,
+      -1.52
+     ],
+     [
+      -4.07,
+      -1.62
+     ],
+     [
+      -4.07,
+      -2.22
+     ],
+     [
+      -3.97,
+      -2.22
+     ],
+     [
+      -3.87,
+      -2.32
+     ],
+     [
+      -3.87,
+      -2.42
+     ],
+     [
+      -1.77,
+      -2.42
+     ],
+     [
+      -1.77,
+      -2.32
+     ],
+     [
+      -1.67,
+      -2.22
+     ],
+     [
+      -1.57,
+      -2.22
+     ],
+     [
+      -1.47,
+      -2.12
+     ],
+     [
+      -0.97,
+      -2.12
+     ],
+     [
+      -0.87,
+      -2.22
+     ],
+     [
+      -0.77,
+      -2.22
+     ],
+     [
+      -0.67,
+      -2.32
+     ],
+     [
+      -0.67,
+      -2.42
+     ],
+     [
+      -0.07,
+      -2.42
+     ],
+     [
+      -0.07,
+      -2.32
+     ],
+     [
+      0.03,
+      -2.22
+     ],
+     [
+      0.43,
+      -2.22
+     ],
+     [
+      0.43,
+      -2.12
+     ],
+     [
+      0.53,
+      -2.02
+     ],
+     [
+      0.63,
+      -2.02
+     ],
+     [
+      0.83,
+      -1.82
+     ],
+     [
+      1.23,
+      -1.82
+     ],
+     [
+      1.33,
+      -1.72
+     ],
+     [
+      1.43,
+      -1.72
+     ],
+     [
+      1.43,
+      -0.02
+     ],
+     [
+      1.33,
+      -0.02
+     ],
+     [
+      1.23,
+      0.08
+     ],
+     [
+      1.23,
+      0.18
+     ],
+     [
+      1.13,
+      0.28
+     ],
+     [
+      1.13,
+      1.08
+     ],
+     [
+      1.03,
+      1.18
+     ],
+     [
+      1.03,
+      1.58
+     ],
+     [
+      1.13,
+      1.68
+     ],
+     [
+      1.23,
+      1.68
+     ],
+     [
+      1.23,
+      2.68
+     ],
+     [
+      1.13,
+      2.78
+     ],
+     [
+      1.13,
+      3.28
+     ],
+     [
+      0.83,
+      3.28
+     ],
+     [
+      0.73,
+      3.38
+     ],
+     [
+      0.13,
+      3.38
+     ],
+     [
+      0.03,
+      3.28
+     ],
+     [
+      -0.97,
+      3.28
+     ],
+     [
+      -1.07,
+      3.18
+     ],
+     [
+      -1.87,
+      3.18
+     ],
+     [
+      -1.97,
+      3.08
+     ],
+     [
+      -2.57,
+      3.08
+     ],
+     [
+      -2.67,
+      3.18
+     ],
+     [
+      -2.67,
+      3.28
+     ],
+     [
+      -2.87,
+      3.28
+     ],
+     [
+      -2.97,
+      3.38
+     ],
+     [
+      -2.97,
+      3.68
+     ],
+     [
+      -3.07,
+      3.78
+     ],
+     [
+      -3.07,
+      3.98
+     ],
+     [
+      -4.37,
+      3.98
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260928.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260928.json
new file mode 100644
index 0000000000000000000000000000000000000000..158ecf3398786216163b5ec44a70ca851641e1da
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45260928.json	
@@ -0,0 +1,496 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.98,
+      2.4,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.35,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.55,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.04,
+      -1.53,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.54,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.96,
+      1.8,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.12,
+      0.2
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      2.41,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.13,
+      0.18
+     ],
+     "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": 1.67
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.22,
+      0.51,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.17,
+      1.03
+     ],
+     "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": 0.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      0.86,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.23,
+      0.55
+     ],
+     "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": 1.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.43,
+      1.66,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      1.41,
+      0.34
+     ],
+     "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": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.33,
+      -1.13,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.08,
+      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": 0.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.37,
+      -1.5,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.07,
+      0.33
+     ],
+     "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": 0.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.77,
+      -2.02
+     ],
+     [
+      1.73,
+      -2.02
+     ],
+     [
+      1.73,
+      -1.92
+     ],
+     [
+      1.83,
+      -1.82
+     ],
+     [
+      2.13,
+      -1.82
+     ],
+     [
+      2.13,
+      -0.22
+     ],
+     [
+      1.93,
+      -0.22
+     ],
+     [
+      1.83,
+      -0.12
+     ],
+     [
+      1.83,
+      0.08
+     ],
+     [
+      1.73,
+      0.18
+     ],
+     [
+      1.73,
+      2.78
+     ],
+     [
+      1.53,
+      2.78
+     ],
+     [
+      1.33,
+      2.98
+     ],
+     [
+      1.33,
+      3.08
+     ],
+     [
+      -2.27,
+      3.08
+     ],
+     [
+      -2.27,
+      2.98
+     ],
+     [
+      -2.37,
+      2.88
+     ],
+     [
+      -2.77,
+      2.88
+     ],
+     [
+      -2.77,
+      1.28
+     ],
+     [
+      -2.67,
+      1.28
+     ],
+     [
+      -2.57,
+      1.18
+     ],
+     [
+      -2.57,
+      -0.32
+     ],
+     [
+      -2.67,
+      -0.42
+     ],
+     [
+      -2.77,
+      -0.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261121.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261121.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a6367050dd41c6b651fdbd4de9f1348ac84242f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261121.json	
@@ -0,0 +1,654 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.77,
+      -0.1,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.31,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.33,
+      0.83,
+      -0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.47,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      -0.12,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.35,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.69,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       -0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      -0.18,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.28,
+      0.91
+     ],
+     "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": 2.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.18,
+      -0.6,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.15,
+      1.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.33,
+      0.83,
+      -0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.48,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      1.56,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.31,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      0.31,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      1.43,
+      0.68,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.9,
+      0.28,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      1.39,
+      0.74,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.23,
+      1.09,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      1.67,
+      0.06
+     ],
+     "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": 0.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.47,
+      1.67,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.06,
+      0.36
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.33,
+      0.02,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.1,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.38,
+      -0.86
+     ],
+     [
+      -1.28,
+      -0.96
+     ],
+     [
+      -1.08,
+      -0.96
+     ],
+     [
+      -0.98,
+      -1.06
+     ],
+     [
+      -0.58,
+      -1.06
+     ],
+     [
+      -0.38,
+      -1.26
+     ],
+     [
+      -0.38,
+      -1.46
+     ],
+     [
+      3.92,
+      -1.46
+     ],
+     [
+      3.92,
+      -1.26
+     ],
+     [
+      4.02,
+      -1.16
+     ],
+     [
+      4.12,
+      -1.16
+     ],
+     [
+      4.12,
+      -0.96
+     ],
+     [
+      4.32,
+      -0.76
+     ],
+     [
+      4.42,
+      -0.76
+     ],
+     [
+      4.42,
+      1.14
+     ],
+     [
+      4.12,
+      1.14
+     ],
+     [
+      3.92,
+      1.34
+     ],
+     [
+      2.52,
+      1.34
+     ],
+     [
+      2.42,
+      1.44
+     ],
+     [
+      2.42,
+      2.04
+     ],
+     [
+      2.02,
+      2.04
+     ],
+     [
+      1.92,
+      2.14
+     ],
+     [
+      1.62,
+      2.14
+     ],
+     [
+      1.52,
+      2.24
+     ],
+     [
+      1.52,
+      2.34
+     ],
+     [
+      -0.68,
+      2.34
+     ],
+     [
+      -0.68,
+      2.24
+     ],
+     [
+      -0.78,
+      2.14
+     ],
+     [
+      -0.78,
+      1.84
+     ],
+     [
+      -0.88,
+      1.74
+     ],
+     [
+      -0.88,
+      1.44
+     ],
+     [
+      -0.98,
+      1.34
+     ],
+     [
+      -0.98,
+      0.94
+     ],
+     [
+      -1.08,
+      0.84
+     ],
+     [
+      -1.08,
+      0.54
+     ],
+     [
+      -1.18,
+      0.44
+     ],
+     [
+      -1.28,
+      0.44
+     ],
+     [
+      -1.28,
+      -0.26
+     ],
+     [
+      -1.38,
+      -0.36
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261142.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261142.json
new file mode 100644
index 0000000000000000000000000000000000000000..82ad29e370875893f00ad6a9a6aea0fd5efdde99
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261142.json	
@@ -0,0 +1,552 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "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": [
+      -2.2,
+      -0.99,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      1.73,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.87,
+      1.5,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.1,
+      0.93
+     ],
+     "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": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.58,
+      0.89,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.23,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.34,
+       0.0
+      ],
+      [
+       -0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.66,
+      1.9,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.07,
+      0.23
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.15,
+      1.85,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.07,
+      0.19
+     ],
+     "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": 2.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.14,
+      -1.02,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      2.08,
+      0.75,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.57,
+      1.4,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      1.79,
+      0.16
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.18,
+      1.45,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      0.59,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.22,
+      1.57,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.04,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -1.6,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.32,
+      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": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.6,
+      -0.58
+     ],
+     [
+      -3.2,
+      -0.58
+     ],
+     [
+      -3.1,
+      -0.68
+     ],
+     [
+      -3.1,
+      -1.58
+     ],
+     [
+      -3.0,
+      -1.68
+     ],
+     [
+      -3.0,
+      -1.88
+     ],
+     [
+      -2.9,
+      -1.98
+     ],
+     [
+      -2.9,
+      -2.38
+     ],
+     [
+      0.8,
+      -2.38
+     ],
+     [
+      0.8,
+      -2.28
+     ],
+     [
+      0.9,
+      -2.18
+     ],
+     [
+      1.1,
+      -2.18
+     ],
+     [
+      1.2,
+      -2.08
+     ],
+     [
+      1.3,
+      -2.08
+     ],
+     [
+      1.3,
+      1.42
+     ],
+     [
+      1.1,
+      1.42
+     ],
+     [
+      1.0,
+      1.52
+     ],
+     [
+      1.0,
+      1.82
+     ],
+     [
+      0.8,
+      2.02
+     ],
+     [
+      0.8,
+      2.32
+     ],
+     [
+      -2.8,
+      2.32
+     ],
+     [
+      -2.8,
+      2.22
+     ],
+     [
+      -2.9,
+      2.12
+     ],
+     [
+      -3.1,
+      2.12
+     ],
+     [
+      -3.1,
+      2.02
+     ],
+     [
+      -3.2,
+      1.92
+     ],
+     [
+      -3.3,
+      1.92
+     ],
+     [
+      -3.3,
+      1.12
+     ],
+     [
+      -3.4,
+      1.02
+     ],
+     [
+      -3.6,
+      1.02
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261150.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a7a6b810ec327fa5e9d513923f944f4725d080
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261150.json	
@@ -0,0 +1,354 @@
+{
+ "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": [
+      -1.17,
+      0.67,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      1.86,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      0.58,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.46,
+      1.13
+     ],
+     "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": 2.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.23,
+      -0.39,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.43,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      -0.34,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.34,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.28,
+      -1.53,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.02,
+      0.36
+     ],
+     "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": 1.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.5,
+      -0.24
+     ],
+     [
+      -3.3,
+      -0.24
+     ],
+     [
+      -3.1,
+      -0.44
+     ],
+     [
+      -2.7,
+      -0.44
+     ],
+     [
+      -2.6,
+      -0.54
+     ],
+     [
+      -2.2,
+      -0.54
+     ],
+     [
+      -2.1,
+      -0.64
+     ],
+     [
+      -2.1,
+      -1.84
+     ],
+     [
+      1.4,
+      -1.84
+     ],
+     [
+      1.4,
+      -0.84
+     ],
+     [
+      1.5,
+      -0.74
+     ],
+     [
+      1.7,
+      -0.74
+     ],
+     [
+      1.7,
+      0.96
+     ],
+     [
+      0.9,
+      0.96
+     ],
+     [
+      0.8,
+      1.06
+     ],
+     [
+      0.8,
+      1.56
+     ],
+     [
+      0.9,
+      1.66
+     ],
+     [
+      0.9,
+      2.06
+     ],
+     [
+      0.8,
+      2.16
+     ],
+     [
+      0.8,
+      2.36
+     ],
+     [
+      -3.5,
+      2.36
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261182.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..5458380091df3472a9466152fdd2c91b056515d5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261182.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.17,
+      1.27,
+      -1.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.67,
+      0.56,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.39,
+      1.54,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.35,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.65,
+       0.0
+      ],
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.95,
+      -0.66
+     ],
+     [
+      0.75,
+      -0.66
+     ],
+     [
+      0.75,
+      -0.56
+     ],
+     [
+      0.85,
+      -0.46
+     ],
+     [
+      0.95,
+      -0.46
+     ],
+     [
+      0.95,
+      -0.16
+     ],
+     [
+      1.05,
+      -0.06
+     ],
+     [
+      1.15,
+      -0.06
+     ],
+     [
+      1.15,
+      0.24
+     ],
+     [
+      1.25,
+      0.34
+     ],
+     [
+      1.45,
+      0.34
+     ],
+     [
+      1.45,
+      0.44
+     ],
+     [
+      1.75,
+      0.74
+     ],
+     [
+      2.25,
+      0.74
+     ],
+     [
+      2.35,
+      0.64
+     ],
+     [
+      3.05,
+      0.64
+     ],
+     [
+      3.15,
+      0.74
+     ],
+     [
+      3.35,
+      0.74
+     ],
+     [
+      3.35,
+      1.34
+     ],
+     [
+      3.25,
+      1.34
+     ],
+     [
+      3.15,
+      1.44
+     ],
+     [
+      3.15,
+      1.54
+     ],
+     [
+      2.55,
+      1.54
+     ],
+     [
+      2.45,
+      1.64
+     ],
+     [
+      2.45,
+      1.84
+     ],
+     [
+      1.75,
+      1.84
+     ],
+     [
+      1.65,
+      1.94
+     ],
+     [
+      1.65,
+      2.04
+     ],
+     [
+      -0.95,
+      2.04
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261575.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261575.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae76d359f5b1c52c80975adf16ada357ca3483b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261575.json	
@@ -0,0 +1,312 @@
+{
+ "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": [
+      0.61,
+      1.5,
+      -5.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.15,
+      0.33
+     ],
+     "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": 4.17
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.72,
+      0.62,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.44,
+      1.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      0.44,
+      -1.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.26,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      -0.09,
+      -0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.11,
+      0.09
+     ],
+     "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": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.64,
+      -1.04
+     ],
+     [
+      1.36,
+      -1.04
+     ],
+     [
+      1.36,
+      -0.84
+     ],
+     [
+      1.46,
+      -0.74
+     ],
+     [
+      1.46,
+      -0.04
+     ],
+     [
+      1.56,
+      0.06
+     ],
+     [
+      1.56,
+      1.06
+     ],
+     [
+      1.76,
+      1.26
+     ],
+     [
+      2.06,
+      1.26
+     ],
+     [
+      2.06,
+      1.76
+     ],
+     [
+      1.66,
+      1.76
+     ],
+     [
+      1.56,
+      1.86
+     ],
+     [
+      1.56,
+      1.96
+     ],
+     [
+      0.26,
+      1.96
+     ],
+     [
+      0.26,
+      1.86
+     ],
+     [
+      0.16,
+      1.76
+     ],
+     [
+      -1.14,
+      1.76
+     ],
+     [
+      -1.24,
+      1.66
+     ],
+     [
+      -1.64,
+      1.66
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261594.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261594.json
new file mode 100644
index 0000000000000000000000000000000000000000..63054d4e5a80720e6ac013b3787ab3c9e592beab
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261594.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": [
+      0.33,
+      2.27,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.71,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.31,
+      1.72,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.34,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.0,
+      0.37
+     ],
+     [
+      0.6,
+      0.37
+     ],
+     [
+      0.6,
+      0.67
+     ],
+     [
+      0.8,
+      0.87
+     ],
+     [
+      1.2,
+      0.87
+     ],
+     [
+      1.3,
+      0.97
+     ],
+     [
+      1.7,
+      0.97
+     ],
+     [
+      1.8,
+      1.07
+     ],
+     [
+      2.1,
+      1.07
+     ],
+     [
+      2.1,
+      2.27
+     ],
+     [
+      1.9,
+      2.27
+     ],
+     [
+      1.8,
+      2.37
+     ],
+     [
+      1.8,
+      2.57
+     ],
+     [
+      1.7,
+      2.67
+     ],
+     [
+      1.7,
+      2.97
+     ],
+     [
+      -0.4,
+      2.97
+     ],
+     [
+      -0.4,
+      2.87
+     ],
+     [
+      -0.6,
+      2.67
+     ],
+     [
+      -0.7,
+      2.67
+     ],
+     [
+      -0.8,
+      2.57
+     ],
+     [
+      -1.0,
+      2.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261620.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261620.json
new file mode 100644
index 0000000000000000000000000000000000000000..901bf249ca9746c288741a358f2618853c4e0c90
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261620.json	
@@ -0,0 +1,572 @@
+{
+ "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": [
+      -1.24,
+      -1.73,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      2.31,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.85,
+      0.8,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      1.3,
+      0.62,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.64,
+      1.26,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      1.76,
+      0.2,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.2,
+      0.4,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.07,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.5,
+      -1.7
+     ],
+     [
+      -3.4,
+      -1.7
+     ],
+     [
+      -3.3,
+      -1.8
+     ],
+     [
+      -3.2,
+      -1.8
+     ],
+     [
+      -3.1,
+      -1.9
+     ],
+     [
+      -3.1,
+      -2.0
+     ],
+     [
+      -2.9,
+      -2.0
+     ],
+     [
+      -2.8,
+      -2.1
+     ],
+     [
+      -2.7,
+      -2.1
+     ],
+     [
+      -2.4,
+      -2.4
+     ],
+     [
+      -2.3,
+      -2.4
+     ],
+     [
+      -1.8,
+      -2.9
+     ],
+     [
+      -1.3,
+      -2.9
+     ],
+     [
+      -1.2,
+      -3.0
+     ],
+     [
+      -1.1,
+      -3.0
+     ],
+     [
+      -0.9,
+      -3.2
+     ],
+     [
+      -0.9,
+      -3.3
+     ],
+     [
+      0.8,
+      -3.3
+     ],
+     [
+      0.8,
+      -3.1
+     ],
+     [
+      1.1,
+      -2.8
+     ],
+     [
+      1.1,
+      -2.7
+     ],
+     [
+      1.5,
+      -2.3
+     ],
+     [
+      1.5,
+      -2.2
+     ],
+     [
+      1.9,
+      -1.8
+     ],
+     [
+      2.1,
+      -1.8
+     ],
+     [
+      2.3,
+      -2.0
+     ],
+     [
+      2.3,
+      -2.2
+     ],
+     [
+      2.4,
+      -2.3
+     ],
+     [
+      2.8,
+      -2.3
+     ],
+     [
+      3.0,
+      -2.1
+     ],
+     [
+      3.1,
+      -2.1
+     ],
+     [
+      3.1,
+      -1.6
+     ],
+     [
+      3.3,
+      -1.4
+     ],
+     [
+      3.4,
+      -1.4
+     ],
+     [
+      3.4,
+      -0.1
+     ],
+     [
+      3.3,
+      -0.1
+     ],
+     [
+      3.2,
+      0.0
+     ],
+     [
+      3.2,
+      0.5
+     ],
+     [
+      3.3,
+      0.6
+     ],
+     [
+      3.4,
+      0.6
+     ],
+     [
+      3.4,
+      2.0
+     ],
+     [
+      3.3,
+      2.0
+     ],
+     [
+      3.1,
+      2.2
+     ],
+     [
+      3.0,
+      2.2
+     ],
+     [
+      2.9,
+      2.3
+     ],
+     [
+      2.8,
+      2.3
+     ],
+     [
+      2.7,
+      2.4
+     ],
+     [
+      2.7,
+      2.6
+     ],
+     [
+      2.6,
+      2.6
+     ],
+     [
+      2.5,
+      2.7
+     ],
+     [
+      2.3,
+      2.7
+     ],
+     [
+      2.2,
+      2.8
+     ],
+     [
+      2.1,
+      2.8
+     ],
+     [
+      2.0,
+      2.9
+     ],
+     [
+      1.9,
+      2.9
+     ],
+     [
+      1.8,
+      3.0
+     ],
+     [
+      1.7,
+      3.0
+     ],
+     [
+      1.6,
+      3.1
+     ],
+     [
+      1.5,
+      3.1
+     ],
+     [
+      1.3,
+      3.3
+     ],
+     [
+      1.1,
+      3.3
+     ],
+     [
+      1.0,
+      3.4
+     ],
+     [
+      1.0,
+      3.6
+     ],
+     [
+      -0.6,
+      3.6
+     ],
+     [
+      -0.6,
+      3.5
+     ],
+     [
+      -1.2,
+      2.9
+     ],
+     [
+      -1.2,
+      2.8
+     ],
+     [
+      -1.6,
+      2.4
+     ],
+     [
+      -1.7,
+      2.4
+     ],
+     [
+      -1.7,
+      2.1
+     ],
+     [
+      -1.8,
+      2.0
+     ],
+     [
+      -1.8,
+      1.9
+     ],
+     [
+      -2.0,
+      1.7
+     ],
+     [
+      -2.0,
+      1.6
+     ],
+     [
+      -2.1,
+      1.5
+     ],
+     [
+      -2.1,
+      1.4
+     ],
+     [
+      -2.3,
+      1.2
+     ],
+     [
+      -2.3,
+      1.1
+     ],
+     [
+      -2.5,
+      0.9
+     ],
+     [
+      -2.6,
+      0.9
+     ],
+     [
+      -3.1,
+      0.4
+     ],
+     [
+      -3.1,
+      0.3
+     ],
+     [
+      -3.4,
+      0.0
+     ],
+     [
+      -3.5,
+      0.0
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261637.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261637.json
new file mode 100644
index 0000000000000000000000000000000000000000..289869ad437e866659c6e63dd1f0b594be7fde35
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45261637.json	
@@ -0,0 +1,466 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      -0.18,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      1.64,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      0.5,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.23,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.73,
+      -1.95,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.04,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      -1.77,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.04,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.81,
+      -1.07
+     ],
+     [
+      -0.61,
+      -1.07
+     ],
+     [
+      -0.51,
+      -1.17
+     ],
+     [
+      -0.41,
+      -1.17
+     ],
+     [
+      -0.31,
+      -1.27
+     ],
+     [
+      -0.21,
+      -1.27
+     ],
+     [
+      -0.11,
+      -1.37
+     ],
+     [
+      -0.11,
+      -1.47
+     ],
+     [
+      0.09,
+      -1.47
+     ],
+     [
+      0.19,
+      -1.57
+     ],
+     [
+      0.39,
+      -1.57
+     ],
+     [
+      0.49,
+      -1.67
+     ],
+     [
+      0.59,
+      -1.67
+     ],
+     [
+      0.79,
+      -1.87
+     ],
+     [
+      0.79,
+      -2.17
+     ],
+     [
+      1.09,
+      -2.17
+     ],
+     [
+      1.19,
+      -2.27
+     ],
+     [
+      1.39,
+      -2.27
+     ],
+     [
+      1.49,
+      -2.37
+     ],
+     [
+      1.49,
+      -2.47
+     ],
+     [
+      3.19,
+      -2.47
+     ],
+     [
+      3.19,
+      -1.47
+     ],
+     [
+      3.09,
+      -1.47
+     ],
+     [
+      2.89,
+      -1.27
+     ],
+     [
+      2.89,
+      -1.07
+     ],
+     [
+      2.79,
+      -0.97
+     ],
+     [
+      2.79,
+      -0.87
+     ],
+     [
+      2.69,
+      -0.77
+     ],
+     [
+      2.69,
+      -0.17
+     ],
+     [
+      2.79,
+      -0.07
+     ],
+     [
+      2.79,
+      0.13
+     ],
+     [
+      2.89,
+      0.23
+     ],
+     [
+      2.89,
+      0.43
+     ],
+     [
+      2.99,
+      0.53
+     ],
+     [
+      2.99,
+      1.13
+     ],
+     [
+      2.89,
+      1.23
+     ],
+     [
+      2.69,
+      1.23
+     ],
+     [
+      2.59,
+      1.33
+     ],
+     [
+      2.39,
+      1.33
+     ],
+     [
+      2.29,
+      1.43
+     ],
+     [
+      2.09,
+      1.43
+     ],
+     [
+      1.99,
+      1.53
+     ],
+     [
+      1.79,
+      1.53
+     ],
+     [
+      1.69,
+      1.63
+     ],
+     [
+      1.49,
+      1.63
+     ],
+     [
+      1.39,
+      1.73
+     ],
+     [
+      1.19,
+      1.73
+     ],
+     [
+      1.09,
+      1.83
+     ],
+     [
+      1.09,
+      1.93
+     ],
+     [
+      -0.21,
+      1.93
+     ],
+     [
+      -0.21,
+      1.73
+     ],
+     [
+      -0.31,
+      1.63
+     ],
+     [
+      -0.31,
+      1.33
+     ],
+     [
+      -0.41,
+      1.23
+     ],
+     [
+      -0.61,
+      1.23
+     ],
+     [
+      -0.61,
+      1.03
+     ],
+     [
+      -0.71,
+      0.93
+     ],
+     [
+      -0.81,
+      0.93
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662924.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662924.json
new file mode 100644
index 0000000000000000000000000000000000000000..078556836b3a951652abe15c4630f94e29b30327
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662924.json	
@@ -0,0 +1,840 @@
+{
+ "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": [
+      4.45,
+      2.33,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      1.53,
+      0.17,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.0,
+      1.84,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      0.49,
+      0.72
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.23,
+      1.72,
+      -0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.27,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.29,
+       0.0
+      ],
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.42,
+      2.57,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.58,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.33,
+      0.45,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      0.06,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       -0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.68,
+      1.55,
+      -0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.23,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.29,
+       0.0
+      ],
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.14,
+      2.38,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.45,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.28,
+      2.37,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.41,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       0.0
+      ],
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.81,
+      2.24,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      2.55,
+      0.97,
+      0.84
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.99,
+      2.53,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.66,
+      0.07
+     ],
+     "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": 1.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.96,
+      -0.69
+     ],
+     [
+      -1.86,
+      -0.69
+     ],
+     [
+      -1.76,
+      -0.79
+     ],
+     [
+      -1.76,
+      -0.99
+     ],
+     [
+      -1.66,
+      -1.09
+     ],
+     [
+      -1.66,
+      -1.29
+     ],
+     [
+      0.54,
+      -1.29
+     ],
+     [
+      0.54,
+      -1.19
+     ],
+     [
+      0.74,
+      -0.99
+     ],
+     [
+      1.04,
+      -0.99
+     ],
+     [
+      1.14,
+      -0.89
+     ],
+     [
+      1.24,
+      -0.89
+     ],
+     [
+      1.34,
+      -0.79
+     ],
+     [
+      1.54,
+      -0.79
+     ],
+     [
+      1.64,
+      -0.69
+     ],
+     [
+      1.64,
+      -0.29
+     ],
+     [
+      1.84,
+      -0.09
+     ],
+     [
+      2.04,
+      -0.09
+     ],
+     [
+      2.14,
+      0.01
+     ],
+     [
+      2.34,
+      0.01
+     ],
+     [
+      2.44,
+      0.11
+     ],
+     [
+      2.64,
+      0.11
+     ],
+     [
+      2.74,
+      0.21
+     ],
+     [
+      2.94,
+      0.21
+     ],
+     [
+      3.04,
+      0.11
+     ],
+     [
+      4.04,
+      0.11
+     ],
+     [
+      4.14,
+      0.21
+     ],
+     [
+      4.34,
+      0.21
+     ],
+     [
+      4.44,
+      0.31
+     ],
+     [
+      4.54,
+      0.31
+     ],
+     [
+      4.64,
+      0.41
+     ],
+     [
+      4.74,
+      0.41
+     ],
+     [
+      4.84,
+      0.51
+     ],
+     [
+      4.94,
+      0.51
+     ],
+     [
+      5.04,
+      0.61
+     ],
+     [
+      5.24,
+      0.61
+     ],
+     [
+      5.34,
+      0.71
+     ],
+     [
+      5.54,
+      0.71
+     ],
+     [
+      5.64,
+      0.81
+     ],
+     [
+      5.74,
+      0.81
+     ],
+     [
+      5.84,
+      0.91
+     ],
+     [
+      6.14,
+      0.91
+     ],
+     [
+      6.24,
+      1.01
+     ],
+     [
+      6.24,
+      1.11
+     ],
+     [
+      6.34,
+      1.21
+     ],
+     [
+      6.44,
+      1.21
+     ],
+     [
+      6.44,
+      3.01
+     ],
+     [
+      6.34,
+      3.01
+     ],
+     [
+      6.24,
+      3.11
+     ],
+     [
+      6.24,
+      3.21
+     ],
+     [
+      6.04,
+      3.21
+     ],
+     [
+      5.94,
+      3.31
+     ],
+     [
+      5.94,
+      3.41
+     ],
+     [
+      5.84,
+      3.51
+     ],
+     [
+      5.84,
+      3.61
+     ],
+     [
+      5.74,
+      3.71
+     ],
+     [
+      5.74,
+      4.01
+     ],
+     [
+      5.64,
+      4.11
+     ],
+     [
+      5.64,
+      4.91
+     ],
+     [
+      3.64,
+      4.91
+     ],
+     [
+      3.64,
+      4.81
+     ],
+     [
+      3.54,
+      4.71
+     ],
+     [
+      3.34,
+      4.71
+     ],
+     [
+      3.34,
+      4.51
+     ],
+     [
+      3.24,
+      4.41
+     ],
+     [
+      3.14,
+      4.41
+     ],
+     [
+      3.04,
+      4.31
+     ],
+     [
+      2.34,
+      4.31
+     ],
+     [
+      2.24,
+      4.41
+     ],
+     [
+      1.64,
+      4.41
+     ],
+     [
+      1.54,
+      4.31
+     ],
+     [
+      1.34,
+      4.31
+     ],
+     [
+      1.24,
+      4.21
+     ],
+     [
+      1.04,
+      4.21
+     ],
+     [
+      0.94,
+      4.11
+     ],
+     [
+      0.74,
+      4.11
+     ],
+     [
+      0.74,
+      3.91
+     ],
+     [
+      0.64,
+      3.81
+     ],
+     [
+      0.34,
+      3.81
+     ],
+     [
+      0.24,
+      3.91
+     ],
+     [
+      0.24,
+      4.01
+     ],
+     [
+      -0.16,
+      4.01
+     ],
+     [
+      -0.26,
+      3.91
+     ],
+     [
+      -0.46,
+      3.91
+     ],
+     [
+      -0.56,
+      3.81
+     ],
+     [
+      -0.76,
+      3.81
+     ],
+     [
+      -0.76,
+      3.31
+     ],
+     [
+      -0.86,
+      3.21
+     ],
+     [
+      -0.96,
+      3.21
+     ],
+     [
+      -1.06,
+      3.11
+     ],
+     [
+      -1.56,
+      3.11
+     ],
+     [
+      -1.56,
+      3.01
+     ],
+     [
+      -1.76,
+      2.81
+     ],
+     [
+      -1.96,
+      2.81
+     ],
+     [
+      -1.96,
+      1.71
+     ],
+     [
+      -1.86,
+      1.71
+     ],
+     [
+      -1.76,
+      1.61
+     ],
+     [
+      -1.76,
+      1.41
+     ],
+     [
+      -1.66,
+      1.31
+     ],
+     [
+      -1.66,
+      0.71
+     ],
+     [
+      -1.76,
+      0.61
+     ],
+     [
+      -1.96,
+      0.61
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662943.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662943.json
new file mode 100644
index 0000000000000000000000000000000000000000..35f9274611600f616e1137d8063f4d835967fbd8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662943.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      -2.36,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.78,
+      0.76,
+      0.4
+     ],
+     "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": 0.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      -3.3,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      1.67,
+      0.14,
+      0.44
+     ],
+     "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": 3.33
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.89,
+      1.2,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.22,
+      0.87
+     ],
+     "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": 0.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.18,
+      -0.45,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.23,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.59,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.38,
+      -3.34,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.35,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.26,
+      -0.99,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.03,
+      0.37
+     ],
+     "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": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.75,
+      -3.23
+     ],
+     [
+      -1.65,
+      -3.23
+     ],
+     [
+      -1.55,
+      -3.33
+     ],
+     [
+      -1.45,
+      -3.33
+     ],
+     [
+      -1.35,
+      -3.43
+     ],
+     [
+      -0.95,
+      -3.43
+     ],
+     [
+      -0.85,
+      -3.53
+     ],
+     [
+      -0.05,
+      -3.53
+     ],
+     [
+      0.05,
+      -3.63
+     ],
+     [
+      0.85,
+      -3.63
+     ],
+     [
+      0.95,
+      -3.73
+     ],
+     [
+      1.55,
+      -3.73
+     ],
+     [
+      1.65,
+      -3.83
+     ],
+     [
+      1.65,
+      -3.93
+     ],
+     [
+      5.05,
+      -3.93
+     ],
+     [
+      5.05,
+      -2.23
+     ],
+     [
+      4.75,
+      -2.23
+     ],
+     [
+      4.65,
+      -2.13
+     ],
+     [
+      4.65,
+      -1.83
+     ],
+     [
+      4.75,
+      -1.73
+     ],
+     [
+      4.75,
+      -1.33
+     ],
+     [
+      4.65,
+      -1.23
+     ],
+     [
+      4.65,
+      -0.93
+     ],
+     [
+      4.75,
+      -0.83
+     ],
+     [
+      4.75,
+      0.17
+     ],
+     [
+      4.85,
+      0.27
+     ],
+     [
+      4.85,
+      0.77
+     ],
+     [
+      4.65,
+      0.77
+     ],
+     [
+      4.55,
+      0.87
+     ],
+     [
+      4.35,
+      0.87
+     ],
+     [
+      4.25,
+      0.97
+     ],
+     [
+      4.25,
+      1.57
+     ],
+     [
+      3.85,
+      1.57
+     ],
+     [
+      3.75,
+      1.67
+     ],
+     [
+      3.25,
+      1.67
+     ],
+     [
+      3.15,
+      1.77
+     ],
+     [
+      2.65,
+      1.77
+     ],
+     [
+      2.65,
+      1.57
+     ],
+     [
+      2.55,
+      1.47
+     ],
+     [
+      2.05,
+      1.47
+     ],
+     [
+      1.95,
+      1.57
+     ],
+     [
+      1.25,
+      1.57
+     ],
+     [
+      1.05,
+      1.77
+     ],
+     [
+      1.05,
+      2.07
+     ],
+     [
+      -1.25,
+      2.07
+     ],
+     [
+      -1.25,
+      1.97
+     ],
+     [
+      -1.35,
+      1.87
+     ],
+     [
+      -1.35,
+      1.37
+     ],
+     [
+      -1.25,
+      1.27
+     ],
+     [
+      -1.25,
+      0.67
+     ],
+     [
+      -1.35,
+      0.57
+     ],
+     [
+      -1.75,
+      0.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662970.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf44574455e3259c7557e5227cf360806cc87a31
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662970.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": [
+      1.25,
+      -0.12,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.05,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.38,
+      0.58,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.48,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      0.81,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.45,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.26,
+      -1.62
+     ],
+     [
+      -0.96,
+      -1.62
+     ],
+     [
+      -0.86,
+      -1.72
+     ],
+     [
+      -0.86,
+      -1.92
+     ],
+     [
+      1.14,
+      -1.92
+     ],
+     [
+      1.14,
+      -1.52
+     ],
+     [
+      1.24,
+      -1.42
+     ],
+     [
+      1.34,
+      -1.42
+     ],
+     [
+      1.34,
+      0.48
+     ],
+     [
+      1.24,
+      0.48
+     ],
+     [
+      1.14,
+      0.58
+     ],
+     [
+      1.14,
+      0.68
+     ],
+     [
+      1.04,
+      0.78
+     ],
+     [
+      0.94,
+      0.78
+     ],
+     [
+      0.84,
+      0.88
+     ],
+     [
+      0.74,
+      0.88
+     ],
+     [
+      0.64,
+      0.98
+     ],
+     [
+      0.64,
+      1.28
+     ],
+     [
+      0.74,
+      1.38
+     ],
+     [
+      0.74,
+      1.78
+     ],
+     [
+      -1.26,
+      1.78
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662987.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..b21e8657bc6f04c405ec757c0835a8692edab8fc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45662987.json	
@@ -0,0 +1,676 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      -1.29,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.46,
+      0.81,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      1.98,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.52,
+      0.37
+     ],
+     "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": 0.83
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.62,
+      -1.07,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.13,
+      0.91
+     ],
+     "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": 2.83
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.38,
+      -0.37,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      2.01,
+      0.61,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.24,
+      0.55,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.73,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.26,
+      -0.13,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      1.52,
+      0.23
+     ],
+     "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": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      2.12,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      1.83,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.54,
+       0.0
+      ],
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.75,
+      1.03,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.02,
+      0.82
+     ],
+     "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": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.09,
+      -1.41
+     ],
+     [
+      -1.99,
+      -1.41
+     ],
+     [
+      -1.89,
+      -1.51
+     ],
+     [
+      -1.89,
+      -2.01
+     ],
+     [
+      -1.79,
+      -2.11
+     ],
+     [
+      -1.79,
+      -2.31
+     ],
+     [
+      -1.69,
+      -2.41
+     ],
+     [
+      -1.69,
+      -2.81
+     ],
+     [
+      -1.59,
+      -2.91
+     ],
+     [
+      -1.59,
+      -3.31
+     ],
+     [
+      -1.49,
+      -3.41
+     ],
+     [
+      -1.39,
+      -3.41
+     ],
+     [
+      -1.29,
+      -3.51
+     ],
+     [
+      -1.29,
+      -4.01
+     ],
+     [
+      -0.69,
+      -4.01
+     ],
+     [
+      -0.59,
+      -3.91
+     ],
+     [
+      -0.09,
+      -3.91
+     ],
+     [
+      0.01,
+      -3.81
+     ],
+     [
+      0.41,
+      -3.81
+     ],
+     [
+      0.51,
+      -3.71
+     ],
+     [
+      0.91,
+      -3.71
+     ],
+     [
+      1.01,
+      -3.61
+     ],
+     [
+      1.21,
+      -3.61
+     ],
+     [
+      1.31,
+      -3.51
+     ],
+     [
+      1.51,
+      -3.51
+     ],
+     [
+      1.61,
+      -3.61
+     ],
+     [
+      1.61,
+      -4.11
+     ],
+     [
+      1.81,
+      -4.11
+     ],
+     [
+      1.91,
+      -4.21
+     ],
+     [
+      1.91,
+      -4.31
+     ],
+     [
+      3.71,
+      -4.31
+     ],
+     [
+      3.71,
+      -3.91
+     ],
+     [
+      3.61,
+      -3.91
+     ],
+     [
+      3.51,
+      -3.81
+     ],
+     [
+      3.51,
+      -3.21
+     ],
+     [
+      3.61,
+      -3.11
+     ],
+     [
+      3.71,
+      -3.11
+     ],
+     [
+      3.71,
+      -0.91
+     ],
+     [
+      3.61,
+      -0.91
+     ],
+     [
+      3.51,
+      -0.81
+     ],
+     [
+      3.51,
+      -0.21
+     ],
+     [
+      3.41,
+      -0.11
+     ],
+     [
+      3.41,
+      0.29
+     ],
+     [
+      3.31,
+      0.39
+     ],
+     [
+      3.31,
+      0.89
+     ],
+     [
+      3.21,
+      0.99
+     ],
+     [
+      3.21,
+      1.39
+     ],
+     [
+      3.11,
+      1.49
+     ],
+     [
+      3.11,
+      1.89
+     ],
+     [
+      3.01,
+      1.99
+     ],
+     [
+      3.01,
+      2.39
+     ],
+     [
+      2.91,
+      2.49
+     ],
+     [
+      2.91,
+      2.69
+     ],
+     [
+      2.81,
+      2.79
+     ],
+     [
+      2.01,
+      2.79
+     ],
+     [
+      1.91,
+      2.69
+     ],
+     [
+      1.71,
+      2.69
+     ],
+     [
+      1.61,
+      2.79
+     ],
+     [
+      1.51,
+      2.79
+     ],
+     [
+      1.31,
+      2.99
+     ],
+     [
+      1.21,
+      2.99
+     ],
+     [
+      1.01,
+      3.19
+     ],
+     [
+      1.01,
+      3.29
+     ],
+     [
+      -0.79,
+      3.29
+     ],
+     [
+      -0.79,
+      3.19
+     ],
+     [
+      -0.89,
+      3.09
+     ],
+     [
+      -0.89,
+      2.79
+     ],
+     [
+      -0.99,
+      2.69
+     ],
+     [
+      -0.99,
+      2.59
+     ],
+     [
+      -1.09,
+      2.49
+     ],
+     [
+      -1.09,
+      2.39
+     ],
+     [
+      -1.29,
+      2.19
+     ],
+     [
+      -1.39,
+      2.19
+     ],
+     [
+      -1.59,
+      1.99
+     ],
+     [
+      -1.89,
+      1.99
+     ],
+     [
+      -1.99,
+      1.89
+     ],
+     [
+      -2.09,
+      1.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663105.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663105.json
new file mode 100644
index 0000000000000000000000000000000000000000..a51d11a23e95d180fbc367fe7c9b0bbc1411c64b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663105.json	
@@ -0,0 +1,573 @@
+{
+ "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": [
+      3.62,
+      0.97,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      3.07,
+      0.66,
+      1.15
+     ],
+     "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": 3.0
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.64,
+      0.64,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.3,
+      1.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.14,
+      0.91,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.15,
+      1.47
+     ],
+     "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": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.77,
+      0.87,
+      2.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.99,
+      0.71
+     ],
+     "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": 3.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.43,
+      1.29,
+      2.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.28,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      1.29,
+      2.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.19,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.62,
+      1.27,
+      2.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.24,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.66,
+      0.53,
+      -0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.17,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.24,
+      -2.26
+     ],
+     [
+      2.56,
+      -2.26
+     ],
+     [
+      2.56,
+      -1.06
+     ],
+     [
+      2.66,
+      -0.96
+     ],
+     [
+      3.16,
+      -0.96
+     ],
+     [
+      3.16,
+      -0.46
+     ],
+     [
+      3.06,
+      -0.46
+     ],
+     [
+      2.86,
+      -0.26
+     ],
+     [
+      2.86,
+      0.14
+     ],
+     [
+      2.96,
+      0.24
+     ],
+     [
+      3.76,
+      0.24
+     ],
+     [
+      3.86,
+      0.34
+     ],
+     [
+      4.46,
+      0.34
+     ],
+     [
+      4.56,
+      0.44
+     ],
+     [
+      5.16,
+      0.44
+     ],
+     [
+      5.26,
+      0.34
+     ],
+     [
+      5.36,
+      0.34
+     ],
+     [
+      5.46,
+      0.24
+     ],
+     [
+      6.36,
+      0.24
+     ],
+     [
+      6.46,
+      0.34
+     ],
+     [
+      6.46,
+      0.44
+     ],
+     [
+      6.56,
+      0.54
+     ],
+     [
+      6.76,
+      0.54
+     ],
+     [
+      6.86,
+      0.44
+     ],
+     [
+      6.86,
+      0.24
+     ],
+     [
+      7.06,
+      0.24
+     ],
+     [
+      7.16,
+      0.14
+     ],
+     [
+      7.16,
+      0.04
+     ],
+     [
+      8.16,
+      0.04
+     ],
+     [
+      8.16,
+      0.84
+     ],
+     [
+      8.06,
+      0.84
+     ],
+     [
+      7.86,
+      1.04
+     ],
+     [
+      7.86,
+      1.14
+     ],
+     [
+      7.76,
+      1.24
+     ],
+     [
+      7.06,
+      1.24
+     ],
+     [
+      6.86,
+      1.04
+     ],
+     [
+      6.26,
+      1.04
+     ],
+     [
+      6.16,
+      1.14
+     ],
+     [
+      5.96,
+      1.14
+     ],
+     [
+      5.86,
+      1.24
+     ],
+     [
+      5.86,
+      1.44
+     ],
+     [
+      -1.24,
+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": [
+     [
+      [
+       3.36,
+       0.64
+      ],
+      [
+       3.26,
+       0.74
+      ],
+      [
+       3.26,
+       0.94
+      ],
+      [
+       3.36,
+       1.04
+      ],
+      [
+       3.56,
+       1.04
+      ],
+      [
+       3.66,
+       0.94
+      ],
+      [
+       3.66,
+       0.74
+      ],
+      [
+       3.56,
+       0.64
+      ]
+     ]
+    ]
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663114.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..fadccd61b12d56975939512359dfc3a85d5a89e6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663114.json	
@@ -0,0 +1,274 @@
+{
+ "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": [
+      -0.36,
+      4.23,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      0.56,
+      0.36
+     ],
+     "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": 1.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.27,
+      4.51,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.37,
+      0.8
+     ],
+     "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": 1.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.08,
+      2.96
+     ],
+     [
+      -1.98,
+      2.96
+     ],
+     [
+      -1.88,
+      2.86
+     ],
+     [
+      -1.88,
+      1.96
+     ],
+     [
+      -1.78,
+      1.86
+     ],
+     [
+      -1.78,
+      1.56
+     ],
+     [
+      -1.68,
+      1.46
+     ],
+     [
+      -1.68,
+      0.96
+     ],
+     [
+      -1.58,
+      0.86
+     ],
+     [
+      -1.58,
+      0.56
+     ],
+     [
+      -1.48,
+      0.46
+     ],
+     [
+      -0.98,
+      0.46
+     ],
+     [
+      -0.88,
+      0.36
+     ],
+     [
+      -0.88,
+      0.16
+     ],
+     [
+      0.52,
+      0.16
+     ],
+     [
+      0.52,
+      2.36
+     ],
+     [
+      0.42,
+      2.36
+     ],
+     [
+      0.32,
+      2.46
+     ],
+     [
+      0.32,
+      3.36
+     ],
+     [
+      0.22,
+      3.46
+     ],
+     [
+      0.22,
+      4.06
+     ],
+     [
+      0.12,
+      4.16
+     ],
+     [
+      0.12,
+      4.66
+     ],
+     [
+      0.02,
+      4.76
+     ],
+     [
+      0.02,
+      5.16
+     ],
+     [
+      -2.08,
+      5.16
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663154.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663154.json
new file mode 100644
index 0000000000000000000000000000000000000000..d475936d4f0402392ec9f9535f639257fc620db9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663154.json	
@@ -0,0 +1,726 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      -1.84,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.43,
+      0.5,
+      0.46
+     ],
+     "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": 1.83
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.92,
+      0.78,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.87,
+      0.5,
+      1.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.59,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      -1.95,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.45,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.43,
+      -1.55,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.54,
+      0.15,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      -1.24,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      2.72,
+      0.66,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.86,
+      0.79,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.22,
+      1.06
+     ],
+     "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": 0.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.8,
+      -0.7,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.66,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       -0.58,
+       0.0
+      ],
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      1.65,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.07,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       0.0
+      ],
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.41,
+      -1.35
+     ],
+     [
+      -3.31,
+      -1.35
+     ],
+     [
+      -3.11,
+      -1.55
+     ],
+     [
+      -3.01,
+      -1.55
+     ],
+     [
+      -2.71,
+      -1.85
+     ],
+     [
+      -2.61,
+      -1.85
+     ],
+     [
+      -2.31,
+      -2.15
+     ],
+     [
+      -2.21,
+      -2.15
+     ],
+     [
+      -2.11,
+      -2.25
+     ],
+     [
+      -1.71,
+      -2.25
+     ],
+     [
+      -1.61,
+      -2.35
+     ],
+     [
+      -1.61,
+      -2.65
+     ],
+     [
+      -1.31,
+      -2.95
+     ],
+     [
+      -1.21,
+      -2.95
+     ],
+     [
+      -0.91,
+      -3.25
+     ],
+     [
+      -0.81,
+      -3.25
+     ],
+     [
+      -0.51,
+      -3.55
+     ],
+     [
+      -0.41,
+      -3.55
+     ],
+     [
+      -0.21,
+      -3.75
+     ],
+     [
+      -0.11,
+      -3.75
+     ],
+     [
+      0.19,
+      -4.05
+     ],
+     [
+      0.19,
+      -4.15
+     ],
+     [
+      1.39,
+      -4.15
+     ],
+     [
+      1.39,
+      -3.95
+     ],
+     [
+      1.69,
+      -3.65
+     ],
+     [
+      1.89,
+      -3.65
+     ],
+     [
+      2.09,
+      -3.85
+     ],
+     [
+      2.59,
+      -3.85
+     ],
+     [
+      2.69,
+      -3.75
+     ],
+     [
+      2.79,
+      -3.75
+     ],
+     [
+      2.89,
+      -3.65
+     ],
+     [
+      3.19,
+      -3.65
+     ],
+     [
+      3.19,
+      -3.55
+     ],
+     [
+      3.49,
+      -3.25
+     ],
+     [
+      3.69,
+      -3.25
+     ],
+     [
+      3.69,
+      -1.75
+     ],
+     [
+      3.39,
+      -1.75
+     ],
+     [
+      3.29,
+      -1.65
+     ],
+     [
+      3.29,
+      -1.45
+     ],
+     [
+      3.39,
+      -1.35
+     ],
+     [
+      3.39,
+      -1.25
+     ],
+     [
+      3.49,
+      -1.15
+     ],
+     [
+      3.49,
+      -1.05
+     ],
+     [
+      3.59,
+      -0.95
+     ],
+     [
+      3.69,
+      -0.95
+     ],
+     [
+      3.69,
+      -0.45
+     ],
+     [
+      3.59,
+      -0.45
+     ],
+     [
+      3.29,
+      -0.15
+     ],
+     [
+      3.19,
+      -0.15
+     ],
+     [
+      2.99,
+      0.05
+     ],
+     [
+      2.99,
+      0.35
+     ],
+     [
+      2.89,
+      0.35
+     ],
+     [
+      2.79,
+      0.45
+     ],
+     [
+      2.39,
+      0.45
+     ],
+     [
+      2.09,
+      0.75
+     ],
+     [
+      2.09,
+      0.85
+     ],
+     [
+      1.99,
+      0.95
+     ],
+     [
+      1.89,
+      0.95
+     ],
+     [
+      1.79,
+      1.05
+     ],
+     [
+      1.69,
+      1.05
+     ],
+     [
+      1.49,
+      1.25
+     ],
+     [
+      1.39,
+      1.25
+     ],
+     [
+      0.89,
+      1.75
+     ],
+     [
+      0.79,
+      1.75
+     ],
+     [
+      0.59,
+      1.95
+     ],
+     [
+      0.49,
+      1.95
+     ],
+     [
+      0.29,
+      2.15
+     ],
+     [
+      0.19,
+      2.15
+     ],
+     [
+      -0.01,
+      2.35
+     ],
+     [
+      -0.81,
+      2.35
+     ],
+     [
+      -0.91,
+      2.45
+     ],
+     [
+      -0.91,
+      2.65
+     ],
+     [
+      -1.41,
+      2.65
+     ],
+     [
+      -1.41,
+      2.55
+     ],
+     [
+      -1.81,
+      2.15
+     ],
+     [
+      -1.81,
+      2.05
+     ],
+     [
+      -2.01,
+      1.85
+     ],
+     [
+      -2.01,
+      1.75
+     ],
+     [
+      -2.31,
+      1.45
+     ],
+     [
+      -2.31,
+      1.35
+     ],
+     [
+      -2.61,
+      1.05
+     ],
+     [
+      -2.61,
+      0.95
+     ],
+     [
+      -2.81,
+      0.75
+     ],
+     [
+      -2.81,
+      0.45
+     ],
+     [
+      -2.91,
+      0.35
+     ],
+     [
+      -3.01,
+      0.35
+     ],
+     [
+      -3.01,
+      0.25
+     ],
+     [
+      -3.31,
+      -0.05
+     ],
+     [
+      -3.41,
+      -0.05
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663164.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663164.json
new file mode 100644
index 0000000000000000000000000000000000000000..0223e10900545ad7bebc3927bbb339195afca8c7
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45663164.json	
@@ -0,0 +1,420 @@
+{
+ "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": [
+      0.76,
+      6.64,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.55,
+      1.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.75,
+      6.61,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.48,
+      1.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.46,
+      4.68,
+      -0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.05,
+      0.87
+     ],
+     "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": 1.67
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.63,
+      5.38,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.6,
+      1.5
+     ],
+     "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": 0.83
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.87,
+      2.52,
+      -0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.52,
+      0.93
+     ],
+     "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": 2.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.57,
+      5.38,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.04,
+      0.23
+     ],
+     "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": 2.17
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.47,
+      4.7,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.02,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.81,
+      0.9
+     ],
+     [
+      0.79,
+      0.9
+     ],
+     [
+      0.79,
+      1.4
+     ],
+     [
+      0.89,
+      1.5
+     ],
+     [
+      0.99,
+      1.5
+     ],
+     [
+      0.99,
+      1.6
+     ],
+     [
+      1.09,
+      1.7
+     ],
+     [
+      2.69,
+      1.7
+     ],
+     [
+      2.79,
+      1.8
+     ],
+     [
+      2.89,
+      1.8
+     ],
+     [
+      2.99,
+      1.9
+     ],
+     [
+      3.09,
+      1.9
+     ],
+     [
+      3.09,
+      2.0
+     ],
+     [
+      3.19,
+      2.1
+     ],
+     [
+      3.39,
+      2.1
+     ],
+     [
+      3.39,
+      6.8
+     ],
+     [
+      3.29,
+      6.8
+     ],
+     [
+      3.19,
+      6.9
+     ],
+     [
+      3.19,
+      7.1
+     ],
+     [
+      -0.81,
+      7.1
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45b0dac5e3.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45b0dac5e3.json
new file mode 100644
index 0000000000000000000000000000000000000000..2942c889124dbe1caae91662aa0a464f8445d460
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/45b0dac5e3.json	
@@ -0,0 +1,376 @@
+{
+ "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": {
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.82,
+      0.14,
+      1.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.09,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      0.46,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.61,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.42,
+      -0.51,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.72,
+      0.04
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.13,
+      0.55,
+      1.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.87,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.72,
+      0.7,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.14,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.49,
+       0.0
+      ],
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      0.26,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.36,
+      0.11
+     ],
+     "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": 0.33
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.72,
+      0.75,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.18,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.69,
+      -1.56
+     ],
+     [
+      0.11,
+      -1.56
+     ],
+     [
+      0.11,
+      -1.36
+     ],
+     [
+      0.21,
+      -1.26
+     ],
+     [
+      0.51,
+      -1.26
+     ],
+     [
+      0.51,
+      1.14
+     ],
+     [
+      -2.09,
+      1.14
+     ],
+     [
+      -2.09,
+      0.84
+     ],
+     [
+      -2.19,
+      0.74
+     ],
+     [
+      -2.69,
+      0.74
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115460.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ed3425db6e875d4f3e4c63ce5340f23253b07c6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115460.json	
@@ -0,0 +1,636 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      0.15,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.27,
+      0.66
+     ],
+     "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": 4.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.43,
+      -0.55,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.4,
+      0.77
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      -0.73,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.47,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      -1.15,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.51,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.03,
+      -2.46,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.03,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      -2.34,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.59,
+      0.53,
+      0.05
+     ],
+     "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": 0.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.59,
+      -0.73,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.56,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.33,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      0.09,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.34,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.56,
+      -2.82,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.11,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.56,
+      -2.82,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.11,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.9,
+      -4.06
+     ],
+     [
+      -1.8,
+      -4.06
+     ],
+     [
+      -1.7,
+      -4.16
+     ],
+     [
+      -1.7,
+      -4.26
+     ],
+     [
+      0.9,
+      -4.26
+     ],
+     [
+      0.9,
+      -4.06
+     ],
+     [
+      1.1,
+      -3.86
+     ],
+     [
+      1.2,
+      -3.86
+     ],
+     [
+      1.2,
+      -3.56
+     ],
+     [
+      1.3,
+      -3.46
+     ],
+     [
+      1.3,
+      -2.46
+     ],
+     [
+      1.4,
+      -2.36
+     ],
+     [
+      1.4,
+      -2.16
+     ],
+     [
+      1.5,
+      -2.06
+     ],
+     [
+      1.5,
+      -1.96
+     ],
+     [
+      1.6,
+      -1.86
+     ],
+     [
+      1.6,
+      -1.66
+     ],
+     [
+      1.7,
+      -1.56
+     ],
+     [
+      1.8,
+      -1.56
+     ],
+     [
+      1.8,
+      0.64
+     ],
+     [
+      1.7,
+      0.64
+     ],
+     [
+      1.4,
+      0.94
+     ],
+     [
+      1.4,
+      1.54
+     ],
+     [
+      1.5,
+      1.64
+     ],
+     [
+      1.5,
+      2.24
+     ],
+     [
+      0.1,
+      2.24
+     ],
+     [
+      0.1,
+      2.04
+     ],
+     [
+      0.0,
+      1.94
+     ],
+     [
+      0.0,
+      1.84
+     ],
+     [
+      -0.1,
+      1.74
+     ],
+     [
+      -0.9,
+      1.74
+     ],
+     [
+      -0.9,
+      1.44
+     ],
+     [
+      -1.0,
+      1.34
+     ],
+     [
+      -1.0,
+      0.84
+     ],
+     [
+      -1.1,
+      0.74
+     ],
+     [
+      -1.1,
+      0.54
+     ],
+     [
+      -1.2,
+      0.44
+     ],
+     [
+      -1.2,
+      0.14
+     ],
+     [
+      -1.3,
+      0.04
+     ],
+     [
+      -1.3,
+      -0.26
+     ],
+     [
+      -1.4,
+      -0.36
+     ],
+     [
+      -1.4,
+      -0.66
+     ],
+     [
+      -1.5,
+      -0.76
+     ],
+     [
+      -1.5,
+      -0.96
+     ],
+     [
+      -1.6,
+      -1.06
+     ],
+     [
+      -1.6,
+      -1.36
+     ],
+     [
+      -1.7,
+      -1.46
+     ],
+     [
+      -1.7,
+      -1.76
+     ],
+     [
+      -1.8,
+      -1.86
+     ],
+     [
+      -1.9,
+      -1.86
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115469.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115469.json
new file mode 100644
index 0000000000000000000000000000000000000000..32f4838df7f9dc1810d644c9b08ff7bd7c472c74
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115469.json	
@@ -0,0 +1,406 @@
+{
+ "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": [
+      -0.81,
+      0.91,
+      -0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.4,
+      1.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.49,
+      0.73,
+      -1.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.71,
+      0.44
+     ],
+     "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": 3.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      0.68,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.17,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.33,
+      0.7,
+      -2.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.39,
+      0.56
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.84,
+      0.89,
+      -1.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.53,
+      0.2
+     ],
+     "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": 3.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.73,
+      -0.3,
+      -1.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.02,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.22,
+      -1.45
+     ],
+     [
+      -2.02,
+      -1.45
+     ],
+     [
+      -1.92,
+      -1.55
+     ],
+     [
+      -1.62,
+      -1.55
+     ],
+     [
+      -1.52,
+      -1.65
+     ],
+     [
+      -1.32,
+      -1.65
+     ],
+     [
+      -1.22,
+      -1.75
+     ],
+     [
+      -1.22,
+      -1.85
+     ],
+     [
+      0.88,
+      -1.85
+     ],
+     [
+      0.88,
+      -1.65
+     ],
+     [
+      0.98,
+      -1.55
+     ],
+     [
+      0.98,
+      -1.05
+     ],
+     [
+      1.08,
+      -0.95
+     ],
+     [
+      1.18,
+      -0.95
+     ],
+     [
+      1.18,
+      1.05
+     ],
+     [
+      0.78,
+      1.05
+     ],
+     [
+      0.58,
+      1.25
+     ],
+     [
+      0.18,
+      1.25
+     ],
+     [
+      0.08,
+      1.35
+     ],
+     [
+      0.08,
+      1.45
+     ],
+     [
+      -1.92,
+      1.45
+     ],
+     [
+      -1.92,
+      1.25
+     ],
+     [
+      -2.02,
+      1.15
+     ],
+     [
+      -2.02,
+      0.95
+     ],
+     [
+      -2.12,
+      0.85
+     ],
+     [
+      -2.22,
+      0.85
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115525.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3b97403af9bb7a239b25a9d761e64a7195fba2f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115525.json	
@@ -0,0 +1,536 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "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": [
+      1.76,
+      2.3,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.14,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.21,
+      -0.23,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      1.35,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      0.83,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.26,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       -0.71,
+       0.0
+      ],
+      [
+       0.71,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.44,
+      0.69,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.09,
+      0.35
+     ],
+     "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": 5.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      1.78,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      1.19,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      3.65,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.95,
+      0.04,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.6,
+      0.68
+     ],
+     [
+      -2.5,
+      0.68
+     ],
+     [
+      -2.3,
+      0.48
+     ],
+     [
+      -2.3,
+      0.28
+     ],
+     [
+      -2.0,
+      -0.02
+     ],
+     [
+      -2.0,
+      -0.12
+     ],
+     [
+      -1.8,
+      -0.32
+     ],
+     [
+      -1.8,
+      -0.42
+     ],
+     [
+      -1.6,
+      -0.62
+     ],
+     [
+      -1.6,
+      -1.22
+     ],
+     [
+      -1.4,
+      -1.42
+     ],
+     [
+      -1.4,
+      -1.62
+     ],
+     [
+      0.3,
+      -1.62
+     ],
+     [
+      0.3,
+      -1.52
+     ],
+     [
+      0.4,
+      -1.42
+     ],
+     [
+      0.5,
+      -1.42
+     ],
+     [
+      0.7,
+      -1.22
+     ],
+     [
+      0.8,
+      -1.22
+     ],
+     [
+      1.2,
+      -0.82
+     ],
+     [
+      1.3,
+      -0.82
+     ],
+     [
+      1.6,
+      -0.52
+     ],
+     [
+      1.7,
+      -0.52
+     ],
+     [
+      1.9,
+      -0.32
+     ],
+     [
+      2.0,
+      -0.32
+     ],
+     [
+      2.2,
+      -0.12
+     ],
+     [
+      2.3,
+      -0.12
+     ],
+     [
+      2.5,
+      0.08
+     ],
+     [
+      2.6,
+      0.08
+     ],
+     [
+      2.9,
+      0.38
+     ],
+     [
+      3.1,
+      0.38
+     ],
+     [
+      3.1,
+      1.68
+     ],
+     [
+      3.0,
+      1.68
+     ],
+     [
+      2.7,
+      1.98
+     ],
+     [
+      2.3,
+      1.98
+     ],
+     [
+      2.2,
+      2.08
+     ],
+     [
+      2.2,
+      2.18
+     ],
+     [
+      2.1,
+      2.28
+     ],
+     [
+      2.1,
+      2.38
+     ],
+     [
+      2.0,
+      2.48
+     ],
+     [
+      2.0,
+      2.58
+     ],
+     [
+      1.7,
+      2.88
+     ],
+     [
+      1.7,
+      3.48
+     ],
+     [
+      1.6,
+      3.58
+     ],
+     [
+      1.6,
+      3.68
+     ],
+     [
+      1.4,
+      3.88
+     ],
+     [
+      1.4,
+      4.08
+     ],
+     [
+      -1.4,
+      4.08
+     ],
+     [
+      -1.4,
+      3.98
+     ],
+     [
+      -1.6,
+      3.78
+     ],
+     [
+      -1.7,
+      3.78
+     ],
+     [
+      -1.9,
+      3.58
+     ],
+     [
+      -1.9,
+      3.48
+     ],
+     [
+      -2.0,
+      3.38
+     ],
+     [
+      -2.0,
+      2.38
+     ],
+     [
+      -2.2,
+      2.18
+     ],
+     [
+      -2.3,
+      2.18
+     ],
+     [
+      -2.5,
+      1.98
+     ],
+     [
+      -2.6,
+      1.98
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115543.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115543.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1d49450345cdbbe90556f6305e1aa4a3616088a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47115543.json	
@@ -0,0 +1,536 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.54,
+      0.27,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.31,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.6,
+       0.0
+      ],
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      1.92,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.5,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      2.17,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.69,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       0.68,
+       0.0
+      ],
+      [
+       -0.68,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.23,
+      2.2,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.3,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      0.01,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.22,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.24,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.84,
+      -0.08,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.04,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.5,
+      2.39,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.02,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.8,
+      0.86
+     ],
+     [
+      -1.7,
+      0.86
+     ],
+     [
+      -1.6,
+      0.76
+     ],
+     [
+      -1.4,
+      0.76
+     ],
+     [
+      -1.3,
+      0.66
+     ],
+     [
+      -1.3,
+      -0.24
+     ],
+     [
+      -1.2,
+      -0.34
+     ],
+     [
+      -1.2,
+      -0.64
+     ],
+     [
+      0.8,
+      -0.64
+     ],
+     [
+      0.8,
+      -0.54
+     ],
+     [
+      0.9,
+      -0.44
+     ],
+     [
+      1.2,
+      -0.44
+     ],
+     [
+      1.3,
+      -0.34
+     ],
+     [
+      1.6,
+      -0.34
+     ],
+     [
+      1.7,
+      -0.24
+     ],
+     [
+      1.9,
+      -0.24
+     ],
+     [
+      2.0,
+      -0.14
+     ],
+     [
+      2.1,
+      -0.14
+     ],
+     [
+      2.2,
+      -0.04
+     ],
+     [
+      2.4,
+      -0.04
+     ],
+     [
+      2.5,
+      0.06
+     ],
+     [
+      2.6,
+      0.06
+     ],
+     [
+      2.6,
+      0.16
+     ],
+     [
+      2.7,
+      0.26
+     ],
+     [
+      2.8,
+      0.26
+     ],
+     [
+      2.9,
+      0.36
+     ],
+     [
+      3.0,
+      0.36
+     ],
+     [
+      3.0,
+      1.76
+     ],
+     [
+      2.4,
+      1.76
+     ],
+     [
+      2.3,
+      1.86
+     ],
+     [
+      2.3,
+      2.06
+     ],
+     [
+      2.2,
+      2.16
+     ],
+     [
+      2.2,
+      2.36
+     ],
+     [
+      2.1,
+      2.46
+     ],
+     [
+      2.1,
+      2.76
+     ],
+     [
+      2.0,
+      2.86
+     ],
+     [
+      2.0,
+      3.16
+     ],
+     [
+      1.9,
+      3.26
+     ],
+     [
+      1.9,
+      3.36
+     ],
+     [
+      1.8,
+      3.46
+     ],
+     [
+      1.8,
+      3.66
+     ],
+     [
+      -0.2,
+      3.66
+     ],
+     [
+      -0.2,
+      3.56
+     ],
+     [
+      -0.3,
+      3.46
+     ],
+     [
+      -0.7,
+      3.46
+     ],
+     [
+      -0.8,
+      3.36
+     ],
+     [
+      -1.2,
+      3.36
+     ],
+     [
+      -1.3,
+      3.26
+     ],
+     [
+      -1.4,
+      3.26
+     ],
+     [
+      -1.5,
+      3.16
+     ],
+     [
+      -1.8,
+      3.16
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204552.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204552.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c6bd3802fb9675fdd9fa50bcfdf2d64e67c56df
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204552.json	
@@ -0,0 +1,638 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      -0.34,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.42,
+      0.5
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.53,
+      0.29,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.5,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      -0.25,
+      -0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.8,
+      0.47,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.59,
+      -0.32,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.46,
+      0.73
+     ],
+     "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": 0.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.93,
+      -0.42,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      0.93,
+      0.61
+     ],
+     "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": 0.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.5,
+      -0.06,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.14,
+      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": 5.17
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.43,
+      0.97,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.63,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      -0.13,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      1.25,
+      0.09
+     ],
+     "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": 0.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      1.87,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.02,
+      0.55
+     ],
+     "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": 2.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.15,
+      -0.22
+     ],
+     [
+      -4.05,
+      -0.22
+     ],
+     [
+      -3.95,
+      -0.32
+     ],
+     [
+      -3.95,
+      -1.22
+     ],
+     [
+      -3.85,
+      -1.22
+     ],
+     [
+      -3.65,
+      -1.42
+     ],
+     [
+      -3.65,
+      -1.52
+     ],
+     [
+      -3.25,
+      -1.52
+     ],
+     [
+      -3.15,
+      -1.62
+     ],
+     [
+      -2.65,
+      -1.62
+     ],
+     [
+      -2.55,
+      -1.72
+     ],
+     [
+      -1.85,
+      -1.72
+     ],
+     [
+      -1.75,
+      -1.62
+     ],
+     [
+      -1.55,
+      -1.62
+     ],
+     [
+      -1.45,
+      -1.72
+     ],
+     [
+      -1.15,
+      -1.72
+     ],
+     [
+      -1.05,
+      -1.82
+     ],
+     [
+      -0.65,
+      -1.82
+     ],
+     [
+      -0.35,
+      -2.12
+     ],
+     [
+      0.45,
+      -2.12
+     ],
+     [
+      0.55,
+      -2.22
+     ],
+     [
+      0.55,
+      -2.32
+     ],
+     [
+      3.75,
+      -2.32
+     ],
+     [
+      3.75,
+      -1.62
+     ],
+     [
+      3.85,
+      -1.52
+     ],
+     [
+      4.25,
+      -1.52
+     ],
+     [
+      4.25,
+      -1.02
+     ],
+     [
+      3.85,
+      -1.02
+     ],
+     [
+      3.75,
+      -0.92
+     ],
+     [
+      3.75,
+      -0.32
+     ],
+     [
+      3.85,
+      -0.22
+     ],
+     [
+      3.85,
+      0.18
+     ],
+     [
+      3.75,
+      0.18
+     ],
+     [
+      3.65,
+      0.28
+     ],
+     [
+      3.65,
+      1.08
+     ],
+     [
+      3.45,
+      1.28
+     ],
+     [
+      3.45,
+      1.48
+     ],
+     [
+      3.35,
+      1.48
+     ],
+     [
+      3.15,
+      1.68
+     ],
+     [
+      2.65,
+      1.68
+     ],
+     [
+      2.55,
+      1.78
+     ],
+     [
+      2.55,
+      1.88
+     ],
+     [
+      1.55,
+      1.88
+     ],
+     [
+      1.45,
+      1.98
+     ],
+     [
+      0.95,
+      1.98
+     ],
+     [
+      0.85,
+      2.08
+     ],
+     [
+      0.45,
+      2.08
+     ],
+     [
+      0.35,
+      2.18
+     ],
+     [
+      0.05,
+      2.18
+     ],
+     [
+      -0.05,
+      2.28
+     ],
+     [
+      -0.45,
+      2.28
+     ],
+     [
+      -0.55,
+      2.38
+     ],
+     [
+      -0.75,
+      2.38
+     ],
+     [
+      -0.85,
+      2.48
+     ],
+     [
+      -0.85,
+      2.58
+     ],
+     [
+      -3.95,
+      2.58
+     ],
+     [
+      -3.95,
+      2.38
+     ],
+     [
+      -4.05,
+      2.28
+     ],
+     [
+      -4.15,
+      2.28
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204566.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..78827eec9cc3c2520b4f5ab77ba5a5d2d914fd27
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204566.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": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      0.76,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.44,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.25,
+      0.21,
+      -0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.38,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.27,
+      0.23,
+      -0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.42,
+      0.26
+     ],
+     "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": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.22,
+      -1.3
+     ],
+     [
+      1.28,
+      -1.3
+     ],
+     [
+      1.28,
+      1.4
+     ],
+     [
+      -2.22,
+      1.4
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204578.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba756bd15cf98ae8af08c1fb534e5d3952f64d3
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204578.json	
@@ -0,0 +1,756 @@
+{
+ "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": [
+      0.51,
+      -3.17,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      3.43,
+      0.11,
+      0.11
+     ],
+     "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": 5.17
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      1.36,
+      -0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      1.36,
+      0.04,
+      0.67
+     ],
+     "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": 4.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      3.79,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      3.78,
+      1.19,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.51,
+       0.0
+      ],
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.68,
+      1.21,
+      -0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.09,
+      0.28
+     ],
+     "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": 2.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.55,
+      1.06,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.88,
+      0.38,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.11,
+      2.07,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.49,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.72,
+      1.36,
+      -0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      0.06,
+      0.67
+     ],
+     "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": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.05,
+      -0.55
+     ],
+     [
+      -1.75,
+      -0.55
+     ],
+     [
+      -1.55,
+      -0.75
+     ],
+     [
+      -1.55,
+      -0.95
+     ],
+     [
+      -1.45,
+      -1.05
+     ],
+     [
+      -1.35,
+      -1.05
+     ],
+     [
+      -1.25,
+      -1.15
+     ],
+     [
+      -1.05,
+      -1.15
+     ],
+     [
+      -0.95,
+      -1.25
+     ],
+     [
+      -0.85,
+      -1.25
+     ],
+     [
+      -0.75,
+      -1.35
+     ],
+     [
+      -0.75,
+      -1.45
+     ],
+     [
+      -0.65,
+      -1.45
+     ],
+     [
+      -0.25,
+      -1.85
+     ],
+     [
+      0.05,
+      -1.85
+     ],
+     [
+      0.15,
+      -1.95
+     ],
+     [
+      0.15,
+      -2.05
+     ],
+     [
+      0.25,
+      -2.15
+     ],
+     [
+      0.25,
+      -3.15
+     ],
+     [
+      0.15,
+      -3.25
+     ],
+     [
+      0.15,
+      -5.05
+     ],
+     [
+      0.65,
+      -5.05
+     ],
+     [
+      0.65,
+      -3.65
+     ],
+     [
+      0.75,
+      -3.55
+     ],
+     [
+      0.75,
+      -2.15
+     ],
+     [
+      0.85,
+      -2.05
+     ],
+     [
+      1.35,
+      -2.05
+     ],
+     [
+      1.35,
+      -1.25
+     ],
+     [
+      1.45,
+      -1.15
+     ],
+     [
+      1.45,
+      -0.95
+     ],
+     [
+      1.55,
+      -0.85
+     ],
+     [
+      1.55,
+      -0.65
+     ],
+     [
+      1.65,
+      -0.55
+     ],
+     [
+      1.65,
+      -0.45
+     ],
+     [
+      1.75,
+      -0.35
+     ],
+     [
+      1.75,
+      -0.25
+     ],
+     [
+      1.85,
+      -0.15
+     ],
+     [
+      1.85,
+      0.45
+     ],
+     [
+      1.75,
+      0.55
+     ],
+     [
+      1.75,
+      0.75
+     ],
+     [
+      1.85,
+      0.85
+     ],
+     [
+      1.85,
+      0.95
+     ],
+     [
+      1.95,
+      1.05
+     ],
+     [
+      1.95,
+      1.15
+     ],
+     [
+      2.05,
+      1.25
+     ],
+     [
+      2.05,
+      1.35
+     ],
+     [
+      2.15,
+      1.45
+     ],
+     [
+      2.15,
+      1.55
+     ],
+     [
+      2.25,
+      1.65
+     ],
+     [
+      2.25,
+      1.75
+     ],
+     [
+      2.35,
+      1.85
+     ],
+     [
+      2.65,
+      1.85
+     ],
+     [
+      2.65,
+      1.95
+     ],
+     [
+      2.75,
+      2.05
+     ],
+     [
+      2.75,
+      2.15
+     ],
+     [
+      2.85,
+      2.25
+     ],
+     [
+      2.85,
+      2.45
+     ],
+     [
+      2.95,
+      2.55
+     ],
+     [
+      2.95,
+      2.65
+     ],
+     [
+      3.05,
+      2.75
+     ],
+     [
+      3.15,
+      2.75
+     ],
+     [
+      3.15,
+      4.45
+     ],
+     [
+      2.85,
+      4.45
+     ],
+     [
+      2.75,
+      4.55
+     ],
+     [
+      2.65,
+      4.55
+     ],
+     [
+      2.55,
+      4.65
+     ],
+     [
+      2.45,
+      4.65
+     ],
+     [
+      2.35,
+      4.75
+     ],
+     [
+      2.15,
+      4.75
+     ],
+     [
+      2.05,
+      4.85
+     ],
+     [
+      1.85,
+      4.85
+     ],
+     [
+      1.75,
+      4.95
+     ],
+     [
+      1.65,
+      4.95
+     ],
+     [
+      1.55,
+      5.05
+     ],
+     [
+      1.35,
+      5.05
+     ],
+     [
+      1.25,
+      5.15
+     ],
+     [
+      1.25,
+      5.25
+     ],
+     [
+      -0.35,
+      5.25
+     ],
+     [
+      -0.35,
+      5.15
+     ],
+     [
+      -0.45,
+      5.05
+     ],
+     [
+      -0.45,
+      4.95
+     ],
+     [
+      -0.55,
+      4.85
+     ],
+     [
+      -0.65,
+      4.85
+     ],
+     [
+      -0.65,
+      4.75
+     ],
+     [
+      -0.75,
+      4.65
+     ],
+     [
+      -0.75,
+      4.55
+     ],
+     [
+      -0.95,
+      4.35
+     ],
+     [
+      -0.95,
+      4.25
+     ],
+     [
+      -1.05,
+      4.15
+     ],
+     [
+      -1.15,
+      4.15
+     ],
+     [
+      -1.15,
+      3.85
+     ],
+     [
+      -1.35,
+      3.65
+     ],
+     [
+      -1.35,
+      3.55
+     ],
+     [
+      -1.45,
+      3.45
+     ],
+     [
+      -1.45,
+      3.35
+     ],
+     [
+      -1.55,
+      3.25
+     ],
+     [
+      -1.55,
+      3.05
+     ],
+     [
+      -1.65,
+      2.95
+     ],
+     [
+      -1.65,
+      2.85
+     ],
+     [
+      -1.75,
+      2.75
+     ],
+     [
+      -1.75,
+      2.65
+     ],
+     [
+      -1.85,
+      2.55
+     ],
+     [
+      -1.85,
+      2.35
+     ],
+     [
+      -1.95,
+      2.25
+     ],
+     [
+      -2.05,
+      2.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204607.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..98243cda5620d13c13325f62e1f735ce66c5d682
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47204607.json	
@@ -0,0 +1,654 @@
+{
+ "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,
+      0.25,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      1.53,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.9,
+      -0.77,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      0.79,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.33,
+       0.0
+      ],
+      [
+       -0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.29,
+      -0.11,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.97,
+      0.84,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.3,
+      1.66,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.26,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.35,
+      1.28,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.79,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.92,
+      2.78,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      0.31,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       -0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.3,
+      1.66,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.26,
+      0.47
+     ],
+     "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": 3.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.33,
+      2.81,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.05,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.36,
+       0.0
+      ],
+      [
+       -0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      2.94,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      1.08,
+      0.04,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.79,
+      0.51
+     ],
+     [
+      -3.69,
+      0.51
+     ],
+     [
+      -2.89,
+      -0.29
+     ],
+     [
+      -2.89,
+      -0.39
+     ],
+     [
+      -2.49,
+      -0.79
+     ],
+     [
+      -2.49,
+      -1.09
+     ],
+     [
+      -2.59,
+      -1.19
+     ],
+     [
+      -2.69,
+      -1.19
+     ],
+     [
+      -2.69,
+      -1.69
+     ],
+     [
+      -2.39,
+      -1.99
+     ],
+     [
+      -2.39,
+      -2.09
+     ],
+     [
+      -1.99,
+      -2.49
+     ],
+     [
+      -1.59,
+      -2.49
+     ],
+     [
+      -1.49,
+      -2.39
+     ],
+     [
+      -1.39,
+      -2.39
+     ],
+     [
+      -1.29,
+      -2.29
+     ],
+     [
+      -1.09,
+      -2.29
+     ],
+     [
+      -0.99,
+      -2.39
+     ],
+     [
+      -0.99,
+      -2.49
+     ],
+     [
+      -0.79,
+      -2.69
+     ],
+     [
+      -0.79,
+      -2.79
+     ],
+     [
+      0.41,
+      -2.79
+     ],
+     [
+      0.41,
+      -2.69
+     ],
+     [
+      0.71,
+      -2.39
+     ],
+     [
+      0.71,
+      -2.29
+     ],
+     [
+      0.81,
+      -2.19
+     ],
+     [
+      0.81,
+      -2.09
+     ],
+     [
+      0.91,
+      -1.99
+     ],
+     [
+      1.01,
+      -1.99
+     ],
+     [
+      1.11,
+      -1.89
+     ],
+     [
+      1.41,
+      -1.89
+     ],
+     [
+      1.51,
+      -1.79
+     ],
+     [
+      1.61,
+      -1.79
+     ],
+     [
+      1.91,
+      -1.49
+     ],
+     [
+      2.01,
+      -1.49
+     ],
+     [
+      2.21,
+      -1.29
+     ],
+     [
+      2.21,
+      -1.19
+     ],
+     [
+      2.31,
+      -1.09
+     ],
+     [
+      2.31,
+      -0.89
+     ],
+     [
+      2.51,
+      -0.69
+     ],
+     [
+      2.71,
+      -0.69
+     ],
+     [
+      2.71,
+      0.51
+     ],
+     [
+      2.51,
+      0.51
+     ],
+     [
+      2.31,
+      0.71
+     ],
+     [
+      2.31,
+      1.01
+     ],
+     [
+      2.11,
+      1.21
+     ],
+     [
+      2.11,
+      1.31
+     ],
+     [
+      1.81,
+      1.31
+     ],
+     [
+      0.71,
+      2.41
+     ],
+     [
+      0.71,
+      2.51
+     ],
+     [
+      0.01,
+      3.21
+     ],
+     [
+      0.01,
+      3.31
+     ],
+     [
+      -1.09,
+      3.31
+     ],
+     [
+      -1.09,
+      3.21
+     ],
+     [
+      -1.19,
+      3.11
+     ],
+     [
+      -1.49,
+      3.11
+     ],
+     [
+      -1.59,
+      3.21
+     ],
+     [
+      -1.59,
+      3.31
+     ],
+     [
+      -1.99,
+      3.31
+     ],
+     [
+      -1.99,
+      3.21
+     ],
+     [
+      -2.29,
+      2.91
+     ],
+     [
+      -2.39,
+      2.91
+     ],
+     [
+      -3.69,
+      1.61
+     ],
+     [
+      -3.79,
+      1.61
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331063.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..d62008b40b4788852eb7fd1f9137aa09ef481789
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331063.json	
@@ -0,0 +1,640 @@
+{
+ "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": [
+      -0.43,
+      0.67,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.63,
+      0.41
+     ],
+     "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": 0.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      -0.98,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.27,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       -0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.5,
+      -1.83,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.28,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.83,
+      -2.25,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.06,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.83,
+      1.15,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.27,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.74,
+       0.0
+      ],
+      [
+       -0.74,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      -1.75,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.21,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      -0.06,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.3,
+      0.21
+     ],
+     "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": 1.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.32,
+      -0.97,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.03,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.46,
+      -1.57,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.03,
+      0.22
+     ],
+     "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": 1.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.8,
+      -1.57
+     ],
+     [
+      -1.7,
+      -1.57
+     ],
+     [
+      -1.6,
+      -1.67
+     ],
+     [
+      -1.6,
+      -1.87
+     ],
+     [
+      -1.5,
+      -1.97
+     ],
+     [
+      -1.4,
+      -1.97
+     ],
+     [
+      -1.1,
+      -2.27
+     ],
+     [
+      -1.0,
+      -2.27
+     ],
+     [
+      -0.9,
+      -2.37
+     ],
+     [
+      -0.8,
+      -2.37
+     ],
+     [
+      -0.6,
+      -2.57
+     ],
+     [
+      -0.6,
+      -2.67
+     ],
+     [
+      -0.5,
+      -2.77
+     ],
+     [
+      -0.5,
+      -2.87
+     ],
+     [
+      1.6,
+      -2.87
+     ],
+     [
+      1.6,
+      -2.57
+     ],
+     [
+      1.7,
+      -2.47
+     ],
+     [
+      1.7,
+      -2.37
+     ],
+     [
+      1.8,
+      -2.27
+     ],
+     [
+      1.9,
+      -2.27
+     ],
+     [
+      2.0,
+      -2.17
+     ],
+     [
+      2.1,
+      -2.17
+     ],
+     [
+      2.1,
+      -0.67
+     ],
+     [
+      1.9,
+      -0.67
+     ],
+     [
+      1.7,
+      -0.47
+     ],
+     [
+      1.1,
+      -0.47
+     ],
+     [
+      1.0,
+      -0.37
+     ],
+     [
+      1.0,
+      -0.07
+     ],
+     [
+      1.1,
+      0.03
+     ],
+     [
+      1.4,
+      0.03
+     ],
+     [
+      1.5,
+      0.13
+     ],
+     [
+      1.7,
+      0.13
+     ],
+     [
+      1.7,
+      0.53
+     ],
+     [
+      1.6,
+      0.63
+     ],
+     [
+      1.6,
+      1.03
+     ],
+     [
+      1.5,
+      1.13
+     ],
+     [
+      1.4,
+      1.13
+     ],
+     [
+      1.2,
+      1.33
+     ],
+     [
+      1.2,
+      1.63
+     ],
+     [
+      0.3,
+      1.63
+     ],
+     [
+      0.3,
+      1.43
+     ],
+     [
+      0.1,
+      1.23
+     ],
+     [
+      -0.1,
+      1.23
+     ],
+     [
+      -0.2,
+      1.33
+     ],
+     [
+      -0.3,
+      1.33
+     ],
+     [
+      -0.5,
+      1.53
+     ],
+     [
+      -0.5,
+      1.63
+     ],
+     [
+      -1.0,
+      1.63
+     ],
+     [
+      -1.0,
+      1.53
+     ],
+     [
+      -1.1,
+      1.43
+     ],
+     [
+      -1.1,
+      1.33
+     ],
+     [
+      -1.2,
+      1.23
+     ],
+     [
+      -1.2,
+      1.13
+     ],
+     [
+      -1.3,
+      1.03
+     ],
+     [
+      -1.3,
+      0.93
+     ],
+     [
+      -1.6,
+      0.63
+     ],
+     [
+      -1.6,
+      0.53
+     ],
+     [
+      -1.7,
+      0.43
+     ],
+     [
+      -1.8,
+      0.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331068.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331068.json
new file mode 100644
index 0000000000000000000000000000000000000000..67bb21e031bb21b731e65781f9ca6e8c47548473
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331068.json	
@@ -0,0 +1,340 @@
+{
+ "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": [
+      -0.64,
+      0.33,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.64,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.4,
+       0.0
+      ],
+      [
+       -0.4,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      0.28,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.19,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.08,
+      -0.28,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.11,
+      0.35
+     ],
+     "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": 0.83
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.57,
+      -0.71,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.43,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.5,
+      -1.04
+     ],
+     [
+      -1.4,
+      -1.04
+     ],
+     [
+      -1.3,
+      -1.14
+     ],
+     [
+      -1.3,
+      -1.24
+     ],
+     [
+      -1.2,
+      -1.34
+     ],
+     [
+      -1.2,
+      -1.44
+     ],
+     [
+      0.4,
+      -1.44
+     ],
+     [
+      0.4,
+      -1.34
+     ],
+     [
+      0.6,
+      -1.14
+     ],
+     [
+      0.7,
+      -1.14
+     ],
+     [
+      0.7,
+      -0.44
+     ],
+     [
+      0.8,
+      -0.34
+     ],
+     [
+      0.9,
+      -0.34
+     ],
+     [
+      1.0,
+      -0.24
+     ],
+     [
+      1.0,
+      -0.04
+     ],
+     [
+      1.1,
+      0.06
+     ],
+     [
+      1.2,
+      0.06
+     ],
+     [
+      1.2,
+      1.06
+     ],
+     [
+      -0.8,
+      1.06
+     ],
+     [
+      -0.8,
+      0.96
+     ],
+     [
+      -0.9,
+      0.86
+     ],
+     [
+      -1.0,
+      0.86
+     ],
+     [
+      -1.2,
+      0.66
+     ],
+     [
+      -1.3,
+      0.66
+     ],
+     [
+      -1.4,
+      0.56
+     ],
+     [
+      -1.5,
+      0.56
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331262.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331262.json
new file mode 100644
index 0000000000000000000000000000000000000000..86ea5a32d9b091f8da1348087b6a4640218e2170
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331262.json	
@@ -0,0 +1,950 @@
+{
+ "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": [
+      -2.17,
+      -2.24,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.89,
+      0.6,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.82,
+      -1.92,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      0.67,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.74,
+       0.0
+      ],
+      [
+       -0.74,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.78,
+      0.97,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.27,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.43,
+       0.0
+      ],
+      [
+       -0.43,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.63,
+      0.55,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.35,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.14,
+      1.62,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.19,
+      0.4
+     ],
+     "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": 0.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.11,
+      -2.33,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.88,
+      0.78,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.31,
+      -1.0,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      1.06,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       -0.71,
+       0.0
+      ],
+      [
+       0.71,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      -1.92,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      0.61,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.91,
+      0.54,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.35,
+      0.69,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       -0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.07,
+      1.0,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.97,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       0.55,
+       0.0
+      ],
+      [
+       -0.55,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      1.53,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      0.04,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      1.56,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.09,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.24,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.36,
+      -1.95
+     ],
+     [
+      -5.26,
+      -1.95
+     ],
+     [
+      -5.16,
+      -2.05
+     ],
+     [
+      -5.06,
+      -2.05
+     ],
+     [
+      -4.96,
+      -2.15
+     ],
+     [
+      -4.76,
+      -2.15
+     ],
+     [
+      -4.66,
+      -2.25
+     ],
+     [
+      -4.56,
+      -2.25
+     ],
+     [
+      -4.46,
+      -2.35
+     ],
+     [
+      -4.36,
+      -2.35
+     ],
+     [
+      -4.26,
+      -2.45
+     ],
+     [
+      -4.16,
+      -2.45
+     ],
+     [
+      -4.06,
+      -2.55
+     ],
+     [
+      -3.96,
+      -2.55
+     ],
+     [
+      -3.86,
+      -2.65
+     ],
+     [
+      -3.56,
+      -2.65
+     ],
+     [
+      -3.46,
+      -2.75
+     ],
+     [
+      -3.26,
+      -2.75
+     ],
+     [
+      -3.06,
+      -2.95
+     ],
+     [
+      -2.96,
+      -2.95
+     ],
+     [
+      -2.86,
+      -3.05
+     ],
+     [
+      -2.76,
+      -3.05
+     ],
+     [
+      -2.66,
+      -3.15
+     ],
+     [
+      -2.56,
+      -3.15
+     ],
+     [
+      -2.46,
+      -3.25
+     ],
+     [
+      -2.26,
+      -3.25
+     ],
+     [
+      -2.16,
+      -3.35
+     ],
+     [
+      -1.96,
+      -3.35
+     ],
+     [
+      -1.86,
+      -3.45
+     ],
+     [
+      -1.76,
+      -3.45
+     ],
+     [
+      -1.66,
+      -3.55
+     ],
+     [
+      -1.66,
+      -3.65
+     ],
+     [
+      -0.26,
+      -3.65
+     ],
+     [
+      -0.26,
+      -3.45
+     ],
+     [
+      -0.16,
+      -3.35
+     ],
+     [
+      -0.16,
+      -3.25
+     ],
+     [
+      0.04,
+      -3.05
+     ],
+     [
+      0.04,
+      -2.65
+     ],
+     [
+      0.14,
+      -2.55
+     ],
+     [
+      0.34,
+      -2.55
+     ],
+     [
+      0.44,
+      -2.45
+     ],
+     [
+      0.44,
+      -2.15
+     ],
+     [
+      0.54,
+      -2.05
+     ],
+     [
+      0.54,
+      -1.75
+     ],
+     [
+      0.94,
+      -1.35
+     ],
+     [
+      0.94,
+      -1.25
+     ],
+     [
+      1.04,
+      -1.15
+     ],
+     [
+      1.04,
+      -1.05
+     ],
+     [
+      1.14,
+      -0.95
+     ],
+     [
+      1.14,
+      -0.75
+     ],
+     [
+      1.24,
+      -0.65
+     ],
+     [
+      1.34,
+      -0.65
+     ],
+     [
+      1.34,
+      1.15
+     ],
+     [
+      1.24,
+      1.15
+     ],
+     [
+      1.14,
+      1.25
+     ],
+     [
+      1.04,
+      1.25
+     ],
+     [
+      0.94,
+      1.35
+     ],
+     [
+      0.84,
+      1.35
+     ],
+     [
+      0.74,
+      1.45
+     ],
+     [
+      0.54,
+      1.45
+     ],
+     [
+      0.44,
+      1.55
+     ],
+     [
+      0.34,
+      1.55
+     ],
+     [
+      0.24,
+      1.65
+     ],
+     [
+      0.04,
+      1.65
+     ],
+     [
+      -0.06,
+      1.75
+     ],
+     [
+      -0.16,
+      1.75
+     ],
+     [
+      -0.26,
+      1.85
+     ],
+     [
+      -0.46,
+      1.85
+     ],
+     [
+      -0.56,
+      1.95
+     ],
+     [
+      -0.66,
+      1.95
+     ],
+     [
+      -0.76,
+      2.05
+     ],
+     [
+      -0.86,
+      2.05
+     ],
+     [
+      -0.96,
+      2.15
+     ],
+     [
+      -1.06,
+      2.15
+     ],
+     [
+      -1.16,
+      2.25
+     ],
+     [
+      -1.26,
+      2.25
+     ],
+     [
+      -1.36,
+      2.35
+     ],
+     [
+      -1.46,
+      2.35
+     ],
+     [
+      -1.56,
+      2.45
+     ],
+     [
+      -1.66,
+      2.45
+     ],
+     [
+      -1.76,
+      2.55
+     ],
+     [
+      -1.96,
+      2.55
+     ],
+     [
+      -2.06,
+      2.65
+     ],
+     [
+      -2.16,
+      2.65
+     ],
+     [
+      -2.26,
+      2.75
+     ],
+     [
+      -2.46,
+      2.75
+     ],
+     [
+      -2.56,
+      2.85
+     ],
+     [
+      -2.56,
+      2.95
+     ],
+     [
+      -3.96,
+      2.95
+     ],
+     [
+      -3.96,
+      2.65
+     ],
+     [
+      -4.06,
+      2.55
+     ],
+     [
+      -4.06,
+      2.35
+     ],
+     [
+      -4.16,
+      2.25
+     ],
+     [
+      -4.16,
+      2.15
+     ],
+     [
+      -4.26,
+      2.05
+     ],
+     [
+      -4.26,
+      1.85
+     ],
+     [
+      -4.36,
+      1.75
+     ],
+     [
+      -4.36,
+      1.65
+     ],
+     [
+      -4.46,
+      1.55
+     ],
+     [
+      -4.46,
+      1.35
+     ],
+     [
+      -4.56,
+      1.25
+     ],
+     [
+      -4.56,
+      1.15
+     ],
+     [
+      -4.66,
+      1.05
+     ],
+     [
+      -4.66,
+      0.85
+     ],
+     [
+      -4.76,
+      0.75
+     ],
+     [
+      -4.76,
+      0.65
+     ],
+     [
+      -4.86,
+      0.55
+     ],
+     [
+      -4.86,
+      0.45
+     ],
+     [
+      -4.96,
+      0.35
+     ],
+     [
+      -4.96,
+      0.05
+     ],
+     [
+      -5.16,
+      -0.15
+     ],
+     [
+      -5.16,
+      -0.35
+     ],
+     [
+      -5.26,
+      -0.45
+     ],
+     [
+      -5.36,
+      -0.45
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331316.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331316.json
new file mode 100644
index 0000000000000000000000000000000000000000..310e469edb62b8c57780732f4cfb76c1cb5916ed
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331316.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      -1.15,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      0.79,
+      0.35
+     ],
+     "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": 1.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      -0.31,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.39,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.59,
+       0.0
+      ],
+      [
+       -0.59,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      -1.13,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      0.73,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      -1.05,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.36,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.83,
+      -1.07,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      1.81,
+      0.47,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.44,
+      -0.41,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.31,
+      0.32
+     ],
+     "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": 1.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.22,
+      -0.35,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.03,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.9,
+      -1.18
+     ],
+     [
+      -0.8,
+      -1.18
+     ],
+     [
+      -0.7,
+      -1.28
+     ],
+     [
+      -0.7,
+      -1.38
+     ],
+     [
+      -0.5,
+      -1.58
+     ],
+     [
+      -0.5,
+      -1.78
+     ],
+     [
+      -0.4,
+      -1.88
+     ],
+     [
+      -0.4,
+      -1.98
+     ],
+     [
+      -0.3,
+      -2.08
+     ],
+     [
+      -0.3,
+      -2.18
+     ],
+     [
+      -0.2,
+      -2.28
+     ],
+     [
+      -0.2,
+      -2.38
+     ],
+     [
+      -0.1,
+      -2.48
+     ],
+     [
+      -0.1,
+      -2.58
+     ],
+     [
+      0.0,
+      -2.68
+     ],
+     [
+      0.0,
+      -2.78
+     ],
+     [
+      0.2,
+      -2.98
+     ],
+     [
+      0.2,
+      -3.08
+     ],
+     [
+      0.3,
+      -3.18
+     ],
+     [
+      0.3,
+      -3.28
+     ],
+     [
+      0.4,
+      -3.38
+     ],
+     [
+      0.4,
+      -3.48
+     ],
+     [
+      0.6,
+      -3.68
+     ],
+     [
+      0.6,
+      -3.88
+     ],
+     [
+      2.6,
+      -3.88
+     ],
+     [
+      2.6,
+      -3.78
+     ],
+     [
+      2.7,
+      -3.68
+     ],
+     [
+      2.8,
+      -3.68
+     ],
+     [
+      2.9,
+      -3.58
+     ],
+     [
+      3.0,
+      -3.58
+     ],
+     [
+      3.1,
+      -3.48
+     ],
+     [
+      3.2,
+      -3.48
+     ],
+     [
+      3.2,
+      -1.78
+     ],
+     [
+      3.1,
+      -1.78
+     ],
+     [
+      3.0,
+      -1.68
+     ],
+     [
+      3.0,
+      -0.88
+     ],
+     [
+      2.9,
+      -0.78
+     ],
+     [
+      2.9,
+      -0.68
+     ],
+     [
+      2.7,
+      -0.48
+     ],
+     [
+      2.7,
+      -0.28
+     ],
+     [
+      2.6,
+      -0.18
+     ],
+     [
+      2.6,
+      0.02
+     ],
+     [
+      2.5,
+      0.02
+     ],
+     [
+      2.4,
+      0.12
+     ],
+     [
+      2.4,
+      0.22
+     ],
+     [
+      2.3,
+      0.32
+     ],
+     [
+      2.3,
+      0.62
+     ],
+     [
+      2.1,
+      0.82
+     ],
+     [
+      2.1,
+      0.92
+     ],
+     [
+      1.9,
+      1.12
+     ],
+     [
+      1.9,
+      1.22
+     ],
+     [
+      0.5,
+      1.22
+     ],
+     [
+      0.5,
+      1.12
+     ],
+     [
+      0.4,
+      1.02
+     ],
+     [
+      0.3,
+      1.02
+     ],
+     [
+      0.1,
+      0.82
+     ],
+     [
+      0.0,
+      0.82
+     ],
+     [
+      -0.1,
+      0.72
+     ],
+     [
+      -0.2,
+      0.72
+     ],
+     [
+      -0.3,
+      0.62
+     ],
+     [
+      -0.4,
+      0.62
+     ],
+     [
+      -0.8,
+      0.22
+     ],
+     [
+      -0.9,
+      0.22
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331319.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331319.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac9f94e0fdc38b1b0211bf3436c4dc5e6e037ef2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331319.json	
@@ -0,0 +1,821 @@
+{
+ "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": [
+      1.12,
+      -0.48,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.54,
+      1.02
+     ],
+     "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": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      0.5,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.34,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      -8.79,
+      -1.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.58,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      1.32,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.06,
+      0.49
+     ],
+     "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": 1.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.8,
+      -0.94,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.24,
+      1.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      -9.05,
+      -1.89
+     ],
+     "3D oriented bounding box dimensions": [
+      1.88,
+      1.0,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.35,
+       0.0
+      ],
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      -0.27,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.49,
+      0.08
+     ],
+     "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": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.88,
+      0.2,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.48,
+      1.02
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.37,
+      -0.31,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.24,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      -0.36,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.5,
+      0.1
+     ],
+     "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": 0.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.75,
+      0.05,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.39,
+      1.11
+     ],
+     "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": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.25,
+      -8.41,
+      -1.98
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.58,
+      0.39
+     ],
+     "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": 3.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.22,
+      -4.47
+     ],
+     [
+      0.68,
+      -4.47
+     ],
+     [
+      0.68,
+      -3.77
+     ],
+     [
+      0.78,
+      -3.67
+     ],
+     [
+      0.98,
+      -3.67
+     ],
+     [
+      1.08,
+      -3.57
+     ],
+     [
+      1.08,
+      -3.27
+     ],
+     [
+      1.18,
+      -3.17
+     ],
+     [
+      1.28,
+      -3.17
+     ],
+     [
+      1.38,
+      -3.07
+     ],
+     [
+      1.38,
+      -2.67
+     ],
+     [
+      1.48,
+      -2.57
+     ],
+     [
+      1.48,
+      -2.47
+     ],
+     [
+      1.58,
+      -2.37
+     ],
+     [
+      1.98,
+      -2.37
+     ],
+     [
+      1.98,
+      -1.87
+     ],
+     [
+      1.68,
+      -1.87
+     ],
+     [
+      1.58,
+      -1.77
+     ],
+     [
+      1.58,
+      -1.37
+     ],
+     [
+      1.68,
+      -1.27
+     ],
+     [
+      1.68,
+      -0.97
+     ],
+     [
+      1.78,
+      -0.87
+     ],
+     [
+      1.78,
+      -0.47
+     ],
+     [
+      1.88,
+      -0.37
+     ],
+     [
+      1.98,
+      -0.37
+     ],
+     [
+      1.98,
+      2.13
+     ],
+     [
+      1.88,
+      2.13
+     ],
+     [
+      1.78,
+      2.23
+     ],
+     [
+      1.58,
+      2.23
+     ],
+     [
+      1.48,
+      2.33
+     ],
+     [
+      1.28,
+      2.33
+     ],
+     [
+      1.18,
+      2.43
+     ],
+     [
+      1.18,
+      2.53
+     ],
+     [
+      -0.72,
+      2.53
+     ],
+     [
+      -0.72,
+      2.33
+     ],
+     [
+      -0.82,
+      2.23
+     ],
+     [
+      -0.82,
+      2.03
+     ],
+     [
+      -0.92,
+      1.93
+     ],
+     [
+      -0.92,
+      1.73
+     ],
+     [
+      -1.02,
+      1.63
+     ],
+     [
+      -1.02,
+      1.13
+     ],
+     [
+      -1.12,
+      1.03
+     ],
+     [
+      -1.22,
+      1.03
+     ],
+     [
+      -1.22,
+      -3.17
+     ],
+     [
+      -1.12,
+      -3.17
+     ],
+     [
+      -1.02,
+      -3.27
+     ],
+     [
+      -1.02,
+      -3.77
+     ],
+     [
+      -1.12,
+      -3.87
+     ],
+     [
+      -1.22,
+      -3.87
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -1.22,
+      -9.97
+     ],
+     [
+      1.18,
+      -9.97
+     ],
+     [
+      1.18,
+      -9.27
+     ],
+     [
+      1.28,
+      -9.17
+     ],
+     [
+      1.28,
+      -8.27
+     ],
+     [
+      1.18,
+      -8.17
+     ],
+     [
+      1.18,
+      -7.87
+     ],
+     [
+      1.08,
+      -7.77
+     ],
+     [
+      1.08,
+      -7.57
+     ],
+     [
+      0.98,
+      -7.47
+     ],
+     [
+      0.98,
+      -7.27
+     ],
+     [
+      0.58,
+      -7.27
+     ],
+     [
+      0.58,
+      -7.47
+     ],
+     [
+      0.48,
+      -7.57
+     ],
+     [
+      0.28,
+      -7.57
+     ],
+     [
+      0.18,
+      -7.47
+     ],
+     [
+      0.08,
+      -7.47
+     ],
+     [
+      -0.02,
+      -7.37
+     ],
+     [
+      -0.42,
+      -7.37
+     ],
+     [
+      -0.42,
+      -7.47
+     ],
+     [
+      -0.52,
+      -7.57
+     ],
+     [
+      -0.52,
+      -7.67
+     ],
+     [
+      -0.62,
+      -7.77
+     ],
+     [
+      -0.72,
+      -7.77
+     ],
+     [
+      -0.82,
+      -7.87
+     ],
+     [
+      -0.82,
+      -7.97
+     ],
+     [
+      -1.02,
+      -8.17
+     ],
+     [
+      -1.02,
+      -9.17
+     ],
+     [
+      -1.12,
+      -9.27
+     ],
+     [
+      -1.22,
+      -9.27
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331331.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331331.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e50897bbdeb8d049916343a886415563c048343
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331331.json	
@@ -0,0 +1,584 @@
+{
+ "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": [
+      0.33,
+      0.47,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      1.83,
+      0.7,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.52,
+      -2.65,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      1.73,
+      1.17,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.42,
+       0.0
+      ],
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.55,
+      0.71,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.51,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      -0.47,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.04,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.9,
+      -3.36
+     ],
+     [
+      -1.4,
+      -3.36
+     ],
+     [
+      -1.3,
+      -3.46
+     ],
+     [
+      -1.3,
+      -3.86
+     ],
+     [
+      -1.2,
+      -3.96
+     ],
+     [
+      -1.1,
+      -3.96
+     ],
+     [
+      -1.0,
+      -4.06
+     ],
+     [
+      -1.0,
+      -4.16
+     ],
+     [
+      -0.4,
+      -4.16
+     ],
+     [
+      -0.4,
+      -3.76
+     ],
+     [
+      -0.3,
+      -3.66
+     ],
+     [
+      -0.2,
+      -3.66
+     ],
+     [
+      -0.2,
+      -3.16
+     ],
+     [
+      -0.1,
+      -3.06
+     ],
+     [
+      0.2,
+      -3.06
+     ],
+     [
+      0.6,
+      -3.46
+     ],
+     [
+      2.1,
+      -3.46
+     ],
+     [
+      2.2,
+      -3.56
+     ],
+     [
+      2.8,
+      -3.56
+     ],
+     [
+      2.9,
+      -3.46
+     ],
+     [
+      3.5,
+      -3.46
+     ],
+     [
+      3.6,
+      -3.36
+     ],
+     [
+      3.8,
+      -3.36
+     ],
+     [
+      3.8,
+      -1.86
+     ],
+     [
+      3.7,
+      -1.86
+     ],
+     [
+      3.6,
+      -1.76
+     ],
+     [
+      3.6,
+      -1.66
+     ],
+     [
+      3.4,
+      -1.66
+     ],
+     [
+      3.3,
+      -1.56
+     ],
+     [
+      3.2,
+      -1.56
+     ],
+     [
+      3.1,
+      -1.46
+     ],
+     [
+      3.0,
+      -1.46
+     ],
+     [
+      2.8,
+      -1.26
+     ],
+     [
+      2.8,
+      -0.76
+     ],
+     [
+      2.5,
+      -0.46
+     ],
+     [
+      2.5,
+      -0.36
+     ],
+     [
+      2.4,
+      -0.26
+     ],
+     [
+      2.4,
+      -0.06
+     ],
+     [
+      2.2,
+      0.14
+     ],
+     [
+      2.2,
+      0.24
+     ],
+     [
+      2.1,
+      0.24
+     ],
+     [
+      2.0,
+      0.34
+     ],
+     [
+      2.0,
+      0.44
+     ],
+     [
+      1.8,
+      0.64
+     ],
+     [
+      1.8,
+      0.74
+     ],
+     [
+      1.6,
+      0.94
+     ],
+     [
+      1.6,
+      1.04
+     ],
+     [
+      1.5,
+      1.14
+     ],
+     [
+      1.5,
+      1.24
+     ],
+     [
+      1.4,
+      1.34
+     ],
+     [
+      1.4,
+      1.44
+     ],
+     [
+      1.3,
+      1.44
+     ],
+     [
+      1.2,
+      1.54
+     ],
+     [
+      1.2,
+      1.74
+     ],
+     [
+      1.0,
+      1.94
+     ],
+     [
+      1.0,
+      2.04
+     ],
+     [
+      -0.3,
+      2.04
+     ],
+     [
+      -0.3,
+      1.94
+     ],
+     [
+      -0.4,
+      1.84
+     ],
+     [
+      -0.5,
+      1.84
+     ],
+     [
+      -0.6,
+      1.74
+     ],
+     [
+      -0.7,
+      1.74
+     ],
+     [
+      -0.9,
+      1.54
+     ],
+     [
+      -1.0,
+      1.54
+     ],
+     [
+      -1.2,
+      1.34
+     ],
+     [
+      -1.2,
+      1.24
+     ],
+     [
+      -1.4,
+      1.04
+     ],
+     [
+      -1.5,
+      1.04
+     ],
+     [
+      -1.7,
+      0.84
+     ],
+     [
+      -1.9,
+      0.84
+     ],
+     [
+      -1.9,
+      -0.16
+     ],
+     [
+      -1.8,
+      -0.16
+     ],
+     [
+      -1.7,
+      -0.26
+     ],
+     [
+      -1.7,
+      -0.36
+     ],
+     [
+      -1.5,
+      -0.56
+     ],
+     [
+      -1.5,
+      -0.66
+     ],
+     [
+      -1.3,
+      -0.86
+     ],
+     [
+      -1.3,
+      -0.96
+     ],
+     [
+      -1.1,
+      -1.16
+     ],
+     [
+      -1.1,
+      -1.36
+     ],
+     [
+      -1.3,
+      -1.56
+     ],
+     [
+      -1.3,
+      -2.16
+     ],
+     [
+      -1.4,
+      -2.26
+     ],
+     [
+      -1.5,
+      -2.26
+     ],
+     [
+      -1.5,
+      -2.56
+     ],
+     [
+      -1.6,
+      -2.66
+     ],
+     [
+      -1.9,
+      -2.66
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331336.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331336.json
new file mode 100644
index 0000000000000000000000000000000000000000..14af2a2f57e1ba0e8dc7d36537d7f678fe1cbeb7
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331336.json	
@@ -0,0 +1,198 @@
+{
+ "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": [
+      0.52,
+      0.51,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.25,
+      0.39
+     ],
+     "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": 3.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      1.25,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.09,
+      0.51
+     ],
+     "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": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.34,
+      -0.45
+     ],
+     [
+      -1.04,
+      -0.45
+     ],
+     [
+      -0.84,
+      -0.65
+     ],
+     [
+      -0.84,
+      -0.85
+     ],
+     [
+      1.16,
+      -0.85
+     ],
+     [
+      1.16,
+      1.65
+     ],
+     [
+      -1.34,
+      1.65
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331644.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331644.json
new file mode 100644
index 0000000000000000000000000000000000000000..372c49e2fef4b33da3ea30ef8ad609c679f7b0d8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331644.json	
@@ -0,0 +1,694 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.14,
+      0.91,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.57,
+      0.96
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.85,
+      1.04,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.45,
+      0.52
+     ],
+     "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": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.65,
+      0.92,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.3,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.11,
+      1.42,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.21,
+      0.5
+     ],
+     "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": 3.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      -0.76,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      1.28,
+      0.68,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      -0.97,
+      -0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.27,
+      0.42
+     ],
+     "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": 1.83
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.38,
+      0.65,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.43,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.9,
+      -0.84,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.55,
+      0.42
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.33,
+      1.16,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.71,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.63,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.31,
+      1.16,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.24,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      0.85,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.04,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.64,
+      -0.71
+     ],
+     [
+      -5.04,
+      -0.71
+     ],
+     [
+      -4.74,
+      -1.01
+     ],
+     [
+      -4.74,
+      -1.31
+     ],
+     [
+      -4.64,
+      -1.31
+     ],
+     [
+      -4.54,
+      -1.41
+     ],
+     [
+      -4.14,
+      -1.41
+     ],
+     [
+      -4.04,
+      -1.51
+     ],
+     [
+      -1.74,
+      -1.51
+     ],
+     [
+      -1.64,
+      -1.61
+     ],
+     [
+      -1.64,
+      -1.81
+     ],
+     [
+      0.56,
+      -1.81
+     ],
+     [
+      0.56,
+      -1.61
+     ],
+     [
+      0.66,
+      -1.51
+     ],
+     [
+      0.66,
+      -1.41
+     ],
+     [
+      0.76,
+      -1.31
+     ],
+     [
+      0.76,
+      -0.91
+     ],
+     [
+      0.86,
+      -0.81
+     ],
+     [
+      0.86,
+      -0.41
+     ],
+     [
+      0.96,
+      -0.31
+     ],
+     [
+      0.96,
+      -0.11
+     ],
+     [
+      1.06,
+      -0.01
+     ],
+     [
+      1.16,
+      -0.01
+     ],
+     [
+      1.16,
+      1.49
+     ],
+     [
+      1.06,
+      1.49
+     ],
+     [
+      0.96,
+      1.59
+     ],
+     [
+      0.76,
+      1.59
+     ],
+     [
+      0.66,
+      1.69
+     ],
+     [
+      0.46,
+      1.69
+     ],
+     [
+      0.26,
+      1.89
+     ],
+     [
+      -0.34,
+      1.89
+     ],
+     [
+      -0.44,
+      1.99
+     ],
+     [
+      -0.74,
+      1.99
+     ],
+     [
+      -0.84,
+      2.09
+     ],
+     [
+      -1.24,
+      2.09
+     ],
+     [
+      -1.34,
+      2.19
+     ],
+     [
+      -1.34,
+      2.29
+     ],
+     [
+      -1.74,
+      2.29
+     ],
+     [
+      -1.84,
+      2.39
+     ],
+     [
+      -1.84,
+      2.49
+     ],
+     [
+      -3.74,
+      2.49
+     ],
+     [
+      -3.74,
+      2.39
+     ],
+     [
+      -3.94,
+      2.19
+     ],
+     [
+      -3.94,
+      2.09
+     ],
+     [
+      -4.04,
+      1.99
+     ],
+     [
+      -4.14,
+      1.99
+     ],
+     [
+      -4.14,
+      1.89
+     ],
+     [
+      -4.24,
+      1.79
+     ],
+     [
+      -4.24,
+      1.59
+     ],
+     [
+      -4.34,
+      1.49
+     ],
+     [
+      -4.34,
+      0.99
+     ],
+     [
+      -4.44,
+      0.89
+     ],
+     [
+      -4.44,
+      0.39
+     ],
+     [
+      -4.54,
+      0.29
+     ],
+     [
+      -4.84,
+      0.29
+     ],
+     [
+      -4.94,
+      0.19
+     ],
+     [
+      -5.64,
+      0.19
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331654.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea0b665bd9ddadb468ec52b5e9dcd15c5955be80
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331654.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.26,
+      2.06,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.23,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      1.11,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.4,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.47,
+      0.45,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.37,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.6,
+       0.0
+      ],
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.8,
+      -0.2,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.33,
+      1.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      -0.28,
+      -0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.14,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.75,
+      1.3,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.17,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.55,
+       0.0
+      ],
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.91,
+      1.04,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.35,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.35,
+      -0.3,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.1,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.06,
+      0.99,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.15,
+      0.8
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      0.93,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.16,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.61,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.45,
+      -0.42
+     ],
+     [
+      -2.35,
+      -0.42
+     ],
+     [
+      -2.15,
+      -0.62
+     ],
+     [
+      -2.15,
+      -0.72
+     ],
+     [
+      -1.75,
+      -1.12
+     ],
+     [
+      -1.65,
+      -1.12
+     ],
+     [
+      -1.45,
+      -1.32
+     ],
+     [
+      -1.35,
+      -1.32
+     ],
+     [
+      -1.25,
+      -1.42
+     ],
+     [
+      -0.55,
+      -1.42
+     ],
+     [
+      -0.45,
+      -1.52
+     ],
+     [
+      -0.45,
+      -1.62
+     ],
+     [
+      -0.35,
+      -1.72
+     ],
+     [
+      -0.35,
+      -1.82
+     ],
+     [
+      1.45,
+      -1.82
+     ],
+     [
+      1.45,
+      -0.92
+     ],
+     [
+      1.35,
+      -0.92
+     ],
+     [
+      1.05,
+      -0.62
+     ],
+     [
+      1.05,
+      -0.22
+     ],
+     [
+      1.35,
+      0.08
+     ],
+     [
+      1.45,
+      0.08
+     ],
+     [
+      1.45,
+      1.68
+     ],
+     [
+      1.25,
+      1.68
+     ],
+     [
+      0.75,
+      2.18
+     ],
+     [
+      0.65,
+      2.18
+     ],
+     [
+      0.55,
+      2.28
+     ],
+     [
+      0.45,
+      2.28
+     ],
+     [
+      0.35,
+      2.38
+     ],
+     [
+      0.35,
+      2.48
+     ],
+     [
+      -0.95,
+      2.48
+     ],
+     [
+      -0.95,
+      2.38
+     ],
+     [
+      -1.15,
+      2.18
+     ],
+     [
+      -1.15,
+      2.08
+     ],
+     [
+      -1.35,
+      1.88
+     ],
+     [
+      -1.45,
+      1.88
+     ],
+     [
+      -1.45,
+      1.78
+     ],
+     [
+      -1.75,
+      1.48
+     ],
+     [
+      -1.75,
+      1.38
+     ],
+     [
+      -2.15,
+      0.98
+     ],
+     [
+      -2.15,
+      0.88
+     ],
+     [
+      -2.35,
+      0.68
+     ],
+     [
+      -2.45,
+      0.68
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331668.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331668.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a79f7b7af177df6e62bc71ebd7d2dce9edb9920
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331668.json	
@@ -0,0 +1,492 @@
+{
+ "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": [
+      -1.31,
+      -0.31,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.35,
+      0.9,
+      0.46
+     ],
+     "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": 0.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.99,
+      -1.55,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.45,
+      0.8
+     ],
+     "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": 3.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.48,
+      -0.38,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.14,
+      0.4
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.65,
+      -1.67,
+      -0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.23,
+      0.26
+     ],
+     "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": 0.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.99,
+      -1.79,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.24,
+      0.39
+     ],
+     "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": 0.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.17,
+      -2.04,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.1,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.8,
+      -2.22,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.07,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.41,
+       0.0
+      ],
+      [
+       -0.41,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.27,
+      -2.11
+     ],
+     [
+      -3.07,
+      -2.11
+     ],
+     [
+      -2.97,
+      -2.21
+     ],
+     [
+      -2.97,
+      -2.31
+     ],
+     [
+      -2.77,
+      -2.31
+     ],
+     [
+      -2.67,
+      -2.41
+     ],
+     [
+      -2.67,
+      -2.71
+     ],
+     [
+      -0.47,
+      -2.71
+     ],
+     [
+      -0.47,
+      -2.61
+     ],
+     [
+      -0.37,
+      -2.51
+     ],
+     [
+      0.03,
+      -2.51
+     ],
+     [
+      0.13,
+      -2.41
+     ],
+     [
+      0.33,
+      -2.41
+     ],
+     [
+      0.53,
+      -2.21
+     ],
+     [
+      0.63,
+      -2.21
+     ],
+     [
+      0.63,
+      -1.61
+     ],
+     [
+      0.53,
+      -1.51
+     ],
+     [
+      0.53,
+      -1.21
+     ],
+     [
+      0.63,
+      -1.11
+     ],
+     [
+      0.63,
+      -0.81
+     ],
+     [
+      0.73,
+      -0.71
+     ],
+     [
+      0.83,
+      -0.71
+     ],
+     [
+      0.83,
+      1.69
+     ],
+     [
+      -0.57,
+      1.69
+     ],
+     [
+      -0.57,
+      0.99
+     ],
+     [
+      -0.67,
+      0.89
+     ],
+     [
+      -1.07,
+      0.89
+     ],
+     [
+      -1.07,
+      0.49
+     ],
+     [
+      -1.17,
+      0.39
+     ],
+     [
+      -1.57,
+      0.39
+     ],
+     [
+      -1.67,
+      0.29
+     ],
+     [
+      -2.27,
+      0.29
+     ],
+     [
+      -2.37,
+      0.19
+     ],
+     [
+      -2.77,
+      0.19
+     ],
+     [
+      -2.87,
+      0.09
+     ],
+     [
+      -2.97,
+      0.09
+     ],
+     [
+      -2.97,
+      -0.21
+     ],
+     [
+      -3.07,
+      -0.31
+     ],
+     [
+      -3.27,
+      -0.31
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331970.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331970.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bfceceb0001fd96d15a76fc1b4b20bfd30f3de6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331970.json	
@@ -0,0 +1,1000 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      1.06,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.43,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.84,
+      0.24,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.37,
+      0.91
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.56,
+      0.21,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.28,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.31,
+      0.89,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.24,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.6,
+      -1.16,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.4,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.52,
+      2.13,
+      -0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.46,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.5,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.62,
+      -1.01,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.09,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.57,
+      -1.41,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.04,
+      0.84
+     ],
+     "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": 2.83
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.93,
+      1.69,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.68,
+      1.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.22,
+       0.0
+      ],
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      -3.0,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.04,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.9,
+      0.09,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      2.0,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.74,
+      -3.04,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.26,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      -0.35,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.78,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.36,
+       0.0
+      ],
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.74,
+      1.61,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.06,
+      0.34
+     ],
+     "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": 2.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.68,
+      0.04,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      1.38,
+      0.73
+     ],
+     "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": 4.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      5.04,
+      0.08
+     ],
+     [
+      5.14,
+      -0.02
+     ],
+     [
+      5.14,
+      -0.62
+     ],
+     [
+      5.24,
+      -0.72
+     ],
+     [
+      5.24,
+      -0.82
+     ],
+     [
+      5.54,
+      -0.82
+     ],
+     [
+      5.74,
+      -1.02
+     ],
+     [
+      5.74,
+      -1.22
+     ],
+     [
+      6.34,
+      -1.22
+     ],
+     [
+      6.34,
+      -0.82
+     ],
+     [
+      6.24,
+      -0.82
+     ],
+     [
+      6.14,
+      -0.72
+     ],
+     [
+      6.14,
+      0.28
+     ],
+     [
+      6.04,
+      0.38
+     ],
+     [
+      6.04,
+      0.88
+     ],
+     [
+      5.04,
+      0.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      3.14,
+      -2.12
+     ],
+     [
+      3.24,
+      -2.12
+     ],
+     [
+      3.34,
+      -2.22
+     ],
+     [
+      5.24,
+      -2.22
+     ],
+     [
+      5.34,
+      -2.12
+     ],
+     [
+      5.54,
+      -2.12
+     ],
+     [
+      5.54,
+      -1.72
+     ],
+     [
+      4.94,
+      -1.72
+     ],
+     [
+      4.84,
+      -1.62
+     ],
+     [
+      4.84,
+      -1.52
+     ],
+     [
+      3.24,
+      -1.52
+     ],
+     [
+      3.14,
+      -1.62
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -3.46,
+      -3.32
+     ],
+     [
+      -3.36,
+      -3.32
+     ],
+     [
+      -3.26,
+      -3.42
+     ],
+     [
+      -3.26,
+      -3.82
+     ],
+     [
+      -3.16,
+      -3.92
+     ],
+     [
+      -3.16,
+      -4.02
+     ],
+     [
+      -1.96,
+      -4.02
+     ],
+     [
+      -1.96,
+      -3.72
+     ],
+     [
+      -1.86,
+      -3.62
+     ],
+     [
+      -0.46,
+      -3.62
+     ],
+     [
+      -0.36,
+      -3.72
+     ],
+     [
+      0.24,
+      -3.72
+     ],
+     [
+      0.34,
+      -3.62
+     ],
+     [
+      0.74,
+      -3.62
+     ],
+     [
+      0.84,
+      -3.52
+     ],
+     [
+      0.94,
+      -3.52
+     ],
+     [
+      1.04,
+      -3.42
+     ],
+     [
+      1.34,
+      -3.42
+     ],
+     [
+      1.34,
+      -2.92
+     ],
+     [
+      1.44,
+      -2.82
+     ],
+     [
+      1.94,
+      -2.82
+     ],
+     [
+      1.94,
+      -1.62
+     ],
+     [
+      1.44,
+      -1.62
+     ],
+     [
+      1.44,
+      -1.72
+     ],
+     [
+      1.34,
+      -1.82
+     ],
+     [
+      1.14,
+      -1.82
+     ],
+     [
+      1.04,
+      -1.72
+     ],
+     [
+      1.04,
+      -1.32
+     ],
+     [
+      1.14,
+      -1.22
+     ],
+     [
+      1.54,
+      -1.22
+     ],
+     [
+      1.74,
+      -1.02
+     ],
+     [
+      1.74,
+      0.68
+     ],
+     [
+      1.64,
+      0.78
+     ],
+     [
+      1.64,
+      0.88
+     ],
+     [
+      1.54,
+      0.88
+     ],
+     [
+      1.44,
+      0.98
+     ],
+     [
+      1.44,
+      1.18
+     ],
+     [
+      1.54,
+      1.28
+     ],
+     [
+      1.64,
+      1.28
+     ],
+     [
+      1.94,
+      1.58
+     ],
+     [
+      2.04,
+      1.58
+     ],
+     [
+      2.04,
+      1.78
+     ],
+     [
+      2.14,
+      1.88
+     ],
+     [
+      2.24,
+      1.88
+     ],
+     [
+      2.24,
+      2.48
+     ],
+     [
+      2.14,
+      2.58
+     ],
+     [
+      2.14,
+      2.68
+     ],
+     [
+      1.94,
+      2.68
+     ],
+     [
+      1.84,
+      2.78
+     ],
+     [
+      1.84,
+      2.88
+     ],
+     [
+      1.14,
+      2.88
+     ],
+     [
+      1.14,
+      2.38
+     ],
+     [
+      1.04,
+      2.28
+     ],
+     [
+      1.04,
+      2.18
+     ],
+     [
+      0.84,
+      1.98
+     ],
+     [
+      0.84,
+      1.88
+     ],
+     [
+      0.74,
+      1.78
+     ],
+     [
+      0.54,
+      1.78
+     ],
+     [
+      0.44,
+      1.68
+     ],
+     [
+      -0.16,
+      1.68
+     ],
+     [
+      -0.26,
+      1.78
+     ],
+     [
+      -1.56,
+      1.78
+     ],
+     [
+      -1.66,
+      1.88
+     ],
+     [
+      -2.06,
+      1.88
+     ],
+     [
+      -2.16,
+      1.78
+     ],
+     [
+      -2.26,
+      1.78
+     ],
+     [
+      -2.46,
+      1.58
+     ],
+     [
+      -2.66,
+      1.58
+     ],
+     [
+      -2.76,
+      1.48
+     ],
+     [
+      -3.46,
+      1.48
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331972.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331972.json
new file mode 100644
index 0000000000000000000000000000000000000000..58acc4613633fa779e513521adbceb1621d9f663
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331972.json	
@@ -0,0 +1,788 @@
+{
+ "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": [
+      3.43,
+      -2.78,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.52,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.79,
+      -2.49,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.73,
+      0.95
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.39,
+      -0.77,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.31,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.26,
+      -1.98,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.07,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.49,
+      2.7,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.11,
+      1.86
+     ],
+     "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": 3.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.34,
+      1.04,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      0.69,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.21,
+       0.0
+      ],
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.93,
+      1.32,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.78,
+      0.63,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.46,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.36,
+      -2.2,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.62,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.36,
+       0.0
+      ],
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.05,
+      3.54,
+      -0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.44,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      -0.49,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.35,
+      0.03,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.24,
+      0.4
+     ],
+     [
+      -1.14,
+      0.4
+     ],
+     [
+      -1.04,
+      0.3
+     ],
+     [
+      -1.04,
+      -0.6
+     ],
+     [
+      -0.94,
+      -0.7
+     ],
+     [
+      -0.94,
+      -1.3
+     ],
+     [
+      -0.84,
+      -1.4
+     ],
+     [
+      -0.84,
+      -1.6
+     ],
+     [
+      -0.74,
+      -1.6
+     ],
+     [
+      -0.64,
+      -1.7
+     ],
+     [
+      -0.64,
+      -2.0
+     ],
+     [
+      -0.54,
+      -2.1
+     ],
+     [
+      -0.54,
+      -2.3
+     ],
+     [
+      -0.64,
+      -2.4
+     ],
+     [
+      -0.64,
+      -3.0
+     ],
+     [
+      -0.54,
+      -3.1
+     ],
+     [
+      -0.54,
+      -3.4
+     ],
+     [
+      -0.14,
+      -3.4
+     ],
+     [
+      0.06,
+      -3.6
+     ],
+     [
+      0.16,
+      -3.6
+     ],
+     [
+      0.26,
+      -3.7
+     ],
+     [
+      0.26,
+      -3.9
+     ],
+     [
+      3.96,
+      -3.9
+     ],
+     [
+      3.96,
+      -3.3
+     ],
+     [
+      4.06,
+      -3.2
+     ],
+     [
+      4.26,
+      -3.2
+     ],
+     [
+      4.36,
+      -3.1
+     ],
+     [
+      4.66,
+      -3.1
+     ],
+     [
+      4.76,
+      -3.0
+     ],
+     [
+      4.76,
+      -2.7
+     ],
+     [
+      4.96,
+      -2.5
+     ],
+     [
+      4.96,
+      -2.1
+     ],
+     [
+      4.86,
+      -2.0
+     ],
+     [
+      4.86,
+      -1.8
+     ],
+     [
+      4.96,
+      -1.7
+     ],
+     [
+      5.06,
+      -1.7
+     ],
+     [
+      5.06,
+      -1.4
+     ],
+     [
+      5.16,
+      -1.3
+     ],
+     [
+      5.56,
+      -1.3
+     ],
+     [
+      5.66,
+      -1.2
+     ],
+     [
+      5.76,
+      -1.2
+     ],
+     [
+      5.76,
+      -0.3
+     ],
+     [
+      5.66,
+      -0.3
+     ],
+     [
+      5.56,
+      -0.2
+     ],
+     [
+      5.06,
+      -0.2
+     ],
+     [
+      4.96,
+      -0.3
+     ],
+     [
+      4.46,
+      -0.3
+     ],
+     [
+      4.36,
+      -0.2
+     ],
+     [
+      4.36,
+      0.3
+     ],
+     [
+      4.46,
+      0.4
+     ],
+     [
+      4.56,
+      0.4
+     ],
+     [
+      4.56,
+      0.9
+     ],
+     [
+      4.46,
+      1.0
+     ],
+     [
+      4.46,
+      1.3
+     ],
+     [
+      4.36,
+      1.4
+     ],
+     [
+      4.36,
+      1.8
+     ],
+     [
+      4.26,
+      1.9
+     ],
+     [
+      4.26,
+      2.2
+     ],
+     [
+      4.36,
+      2.3
+     ],
+     [
+      4.46,
+      2.3
+     ],
+     [
+      4.56,
+      2.4
+     ],
+     [
+      4.86,
+      2.4
+     ],
+     [
+      4.86,
+      3.0
+     ],
+     [
+      4.26,
+      3.0
+     ],
+     [
+      4.16,
+      3.1
+     ],
+     [
+      4.16,
+      3.4
+     ],
+     [
+      4.06,
+      3.5
+     ],
+     [
+      4.06,
+      3.9
+     ],
+     [
+      3.96,
+      4.0
+     ],
+     [
+      3.86,
+      4.0
+     ],
+     [
+      3.76,
+      4.1
+     ],
+     [
+      3.76,
+      4.3
+     ],
+     [
+      0.76,
+      4.3
+     ],
+     [
+      0.76,
+      4.2
+     ],
+     [
+      0.66,
+      4.1
+     ],
+     [
+      0.16,
+      4.1
+     ],
+     [
+      0.06,
+      4.0
+     ],
+     [
+      -0.24,
+      4.0
+     ],
+     [
+      -0.24,
+      3.8
+     ],
+     [
+      -0.34,
+      3.7
+     ],
+     [
+      -0.44,
+      3.7
+     ],
+     [
+      -0.44,
+      3.2
+     ],
+     [
+      -0.54,
+      3.1
+     ],
+     [
+      -0.64,
+      3.1
+     ],
+     [
+      -0.74,
+      3.0
+     ],
+     [
+      -1.04,
+      3.0
+     ],
+     [
+      -1.14,
+      2.9
+     ],
+     [
+      -1.24,
+      2.9
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331990.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..973fd9a8753503a463bc538732634cb7538a6343
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47331990.json	
@@ -0,0 +1,430 @@
+{
+ "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": [
+      -0.63,
+      -1.34,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      1.78,
+      0.79,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.42,
+      -1.82,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.86,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.49,
+       0.0
+      ],
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      1.07,
+      1.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.94,
+      1.54
+     ],
+     "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": 2.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.31,
+      2.26,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.54,
+      0.68,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.27,
+      1.07,
+      1.61
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      0.02,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.38,
+      -2.28
+     ],
+     [
+      -1.98,
+      -2.28
+     ],
+     [
+      -1.88,
+      -2.38
+     ],
+     [
+      -1.58,
+      -2.38
+     ],
+     [
+      -1.48,
+      -2.48
+     ],
+     [
+      -0.98,
+      -2.48
+     ],
+     [
+      -0.88,
+      -2.58
+     ],
+     [
+      -0.88,
+      -2.68
+     ],
+     [
+      0.82,
+      -2.68
+     ],
+     [
+      0.82,
+      -2.38
+     ],
+     [
+      0.92,
+      -2.28
+     ],
+     [
+      0.92,
+      -2.18
+     ],
+     [
+      1.02,
+      -2.08
+     ],
+     [
+      1.12,
+      -2.08
+     ],
+     [
+      1.12,
+      -1.48
+     ],
+     [
+      1.22,
+      -1.38
+     ],
+     [
+      1.32,
+      -1.38
+     ],
+     [
+      1.32,
+      1.22
+     ],
+     [
+      0.82,
+      1.22
+     ],
+     [
+      0.72,
+      1.32
+     ],
+     [
+      0.32,
+      1.32
+     ],
+     [
+      0.22,
+      1.42
+     ],
+     [
+      -0.18,
+      1.42
+     ],
+     [
+      -0.28,
+      1.52
+     ],
+     [
+      -0.48,
+      1.52
+     ],
+     [
+      -0.58,
+      1.62
+     ],
+     [
+      -0.58,
+      1.72
+     ],
+     [
+      -0.68,
+      1.82
+     ],
+     [
+      -0.68,
+      2.82
+     ],
+     [
+      -2.38,
+      2.82
+     ],
+     [
+      -2.38,
+      1.82
+     ],
+     [
+      -2.28,
+      1.82
+     ],
+     [
+      -2.18,
+      1.72
+     ],
+     [
+      -2.08,
+      1.72
+     ],
+     [
+      -1.98,
+      1.62
+     ],
+     [
+      -1.98,
+      1.32
+     ],
+     [
+      -2.18,
+      1.12
+     ],
+     [
+      -2.18,
+      0.62
+     ],
+     [
+      -2.28,
+      0.52
+     ],
+     [
+      -2.38,
+      0.52
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332005.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..25516176b8fa0aa75da3e16a600a66ef54c32cc9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332005.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": [
+    {
+     "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": [
+      -0.52,
+      0.33,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.34,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       0.54,
+       0.0
+      ],
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      -3.52,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      0.79,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.35,
+      -5.17,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.3,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      -1.76,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.65,
+      0.04
+     ],
+     "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": 5.17
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      -0.12,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.36,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.33,
+       0.0
+      ],
+      [
+       -0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      2.72,
+      -5.15
+     ],
+     [
+      2.92,
+      -5.35
+     ],
+     [
+      2.92,
+      -5.45
+     ],
+     [
+      3.02,
+      -5.55
+     ],
+     [
+      3.02,
+      -5.65
+     ],
+     [
+      3.82,
+      -5.65
+     ],
+     [
+      3.82,
+      -5.05
+     ],
+     [
+      3.72,
+      -5.05
+     ],
+     [
+      3.52,
+      -4.85
+     ],
+     [
+      3.52,
+      -4.75
+     ],
+     [
+      3.42,
+      -4.65
+     ],
+     [
+      3.42,
+      -4.55
+     ],
+     [
+      2.72,
+      -4.55
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      0.32,
+      -3.95
+     ],
+     [
+      0.42,
+      -4.05
+     ],
+     [
+      0.42,
+      -4.15
+     ],
+     [
+      0.52,
+      -4.25
+     ],
+     [
+      0.92,
+      -4.25
+     ],
+     [
+      1.02,
+      -4.15
+     ],
+     [
+      1.32,
+      -4.15
+     ],
+     [
+      1.32,
+      -4.05
+     ],
+     [
+      1.42,
+      -3.95
+     ],
+     [
+      1.62,
+      -3.95
+     ],
+     [
+      1.72,
+      -4.05
+     ],
+     [
+      1.72,
+      -4.15
+     ],
+     [
+      1.82,
+      -4.15
+     ],
+     [
+      1.92,
+      -4.25
+     ],
+     [
+      2.62,
+      -4.25
+     ],
+     [
+      2.62,
+      -3.65
+     ],
+     [
+      2.22,
+      -3.65
+     ],
+     [
+      2.12,
+      -3.55
+     ],
+     [
+      2.02,
+      -3.55
+     ],
+     [
+      1.82,
+      -3.35
+     ],
+     [
+      1.82,
+      -3.15
+     ],
+     [
+      1.72,
+      -3.05
+     ],
+     [
+      1.22,
+      -3.05
+     ],
+     [
+      1.12,
+      -2.95
+     ],
+     [
+      0.42,
+      -2.95
+     ],
+     [
+      0.42,
+      -3.35
+     ],
+     [
+      0.32,
+      -3.45
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -1.18,
+      -1.45
+     ],
+     [
+      -0.28,
+      -1.45
+     ],
+     [
+      -0.18,
+      -1.55
+     ],
+     [
+      -0.18,
+      -2.35
+     ],
+     [
+      0.02,
+      -2.55
+     ],
+     [
+      1.52,
+      -2.55
+     ],
+     [
+      1.52,
+      -1.85
+     ],
+     [
+      1.42,
+      -1.75
+     ],
+     [
+      1.42,
+      -1.45
+     ],
+     [
+      1.52,
+      -1.35
+     ],
+     [
+      1.52,
+      -0.35
+     ],
+     [
+      1.42,
+      -0.25
+     ],
+     [
+      1.42,
+      0.05
+     ],
+     [
+      1.32,
+      0.05
+     ],
+     [
+      1.22,
+      0.15
+     ],
+     [
+      1.22,
+      0.45
+     ],
+     [
+      1.32,
+      0.55
+     ],
+     [
+      1.32,
+      0.85
+     ],
+     [
+      -1.18,
+      0.85
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332886.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332886.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a5b8919b1c4d3aac5b3aca886c6be7ad6a9c5f5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332886.json	
@@ -0,0 +1,464 @@
+{
+ "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": [
+      1.32,
+      -0.51,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      0.77,
+      0.48
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.5,
+      1.29,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      1.08,
+      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": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.97,
+      0.51,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.4,
+      0.73
+     ],
+     "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": 1.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.95,
+      0.55,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.42,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.88,
+      0.04,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.49,
+      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": 1.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.46,
+      0.23,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.05,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.3,
+      0.6,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.16,
+      0.36
+     ],
+     "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": 1.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.85,
+      -0.57
+     ],
+     [
+      -2.75,
+      -0.67
+     ],
+     [
+      -2.75,
+      -1.07
+     ],
+     [
+      -2.65,
+      -1.17
+     ],
+     [
+      -2.65,
+      -1.27
+     ],
+     [
+      -1.65,
+      -1.27
+     ],
+     [
+      -1.65,
+      -1.17
+     ],
+     [
+      -1.55,
+      -1.07
+     ],
+     [
+      -1.15,
+      -1.07
+     ],
+     [
+      -1.05,
+      -1.17
+     ],
+     [
+      -1.05,
+      -1.27
+     ],
+     [
+      2.75,
+      -1.27
+     ],
+     [
+      2.75,
+      -1.07
+     ],
+     [
+      2.85,
+      -0.97
+     ],
+     [
+      3.05,
+      -0.97
+     ],
+     [
+      3.05,
+      1.93
+     ],
+     [
+      2.55,
+      1.93
+     ],
+     [
+      2.45,
+      2.03
+     ],
+     [
+      1.75,
+      2.03
+     ],
+     [
+      1.65,
+      2.13
+     ],
+     [
+      1.65,
+      2.23
+     ],
+     [
+      -1.45,
+      2.23
+     ],
+     [
+      -1.45,
+      1.63
+     ],
+     [
+      -1.55,
+      1.53
+     ],
+     [
+      -1.55,
+      1.03
+     ],
+     [
+      -1.65,
+      0.93
+     ],
+     [
+      -1.65,
+      0.73
+     ],
+     [
+      -1.75,
+      0.63
+     ],
+     [
+      -2.05,
+      0.63
+     ],
+     [
+      -2.15,
+      0.53
+     ],
+     [
+      -2.75,
+      0.53
+     ],
+     [
+      -2.85,
+      0.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332899.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..628cba21c43d621dc2ea5ba26431c92f387fa5c8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332899.json	
@@ -0,0 +1,440 @@
+{
+ "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": [
+      -1.43,
+      0.25,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.31,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.66,
+       0.0
+      ],
+      [
+       -0.66,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.07,
+      0.01,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      2.49,
+      0.78,
+      0.64
+     ],
+     "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": 1.83
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.7,
+      -1.34,
+      -0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.33,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.0,
+      -1.36,
+      -0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.33,
+      0.6
+     ],
+     "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": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      -1.48,
+      -0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.39,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       0.64,
+       0.0
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.22,
+      -1.84,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.03,
+      0.38
+     ],
+     "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": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.64,
+      -1.98
+     ],
+     [
+      -3.54,
+      -1.98
+     ],
+     [
+      -3.04,
+      -2.48
+     ],
+     [
+      -3.04,
+      -2.58
+     ],
+     [
+      -1.24,
+      -2.58
+     ],
+     [
+      -1.24,
+      -2.48
+     ],
+     [
+      -1.04,
+      -2.28
+     ],
+     [
+      -0.94,
+      -2.28
+     ],
+     [
+      0.06,
+      -1.28
+     ],
+     [
+      0.16,
+      -1.28
+     ],
+     [
+      0.76,
+      -0.68
+     ],
+     [
+      0.76,
+      -0.18
+     ],
+     [
+      0.86,
+      -0.08
+     ],
+     [
+      1.46,
+      -0.08
+     ],
+     [
+      1.46,
+      1.12
+     ],
+     [
+      1.36,
+      1.12
+     ],
+     [
+      1.16,
+      1.32
+     ],
+     [
+      0.66,
+      1.32
+     ],
+     [
+      0.56,
+      1.22
+     ],
+     [
+      0.36,
+      1.22
+     ],
+     [
+      0.26,
+      1.32
+     ],
+     [
+      0.26,
+      1.42
+     ],
+     [
+      0.16,
+      1.52
+     ],
+     [
+      -0.04,
+      1.52
+     ],
+     [
+      -0.24,
+      1.72
+     ],
+     [
+      -0.24,
+      1.82
+     ],
+     [
+      -1.34,
+      1.82
+     ],
+     [
+      -1.34,
+      1.72
+     ],
+     [
+      -1.94,
+      1.12
+     ],
+     [
+      -2.04,
+      1.12
+     ],
+     [
+      -2.74,
+      0.42
+     ],
+     [
+      -2.84,
+      0.42
+     ],
+     [
+      -3.54,
+      -0.28
+     ],
+     [
+      -3.64,
+      -0.28
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332901.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b5b725e4105f546b8a186a67fe4bce31973ffa
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332901.json	
@@ -0,0 +1,344 @@
+{
+ "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": [
+      0.82,
+      -0.97,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.11,
+      1.52
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      -0.97,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.07,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.17,
+       0.0
+      ],
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.88,
+      -1.07,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.08,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.89,
+      0.64,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.48,
+      1.15
+     ],
+     "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": 1.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.24,
+      0.23,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.26,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.5,
+      -1.71
+     ],
+     [
+      -2.4,
+      -1.71
+     ],
+     [
+      -2.3,
+      -1.81
+     ],
+     [
+      -2.3,
+      -1.91
+     ],
+     [
+      1.2,
+      -1.91
+     ],
+     [
+      1.2,
+      -1.51
+     ],
+     [
+      1.3,
+      -1.41
+     ],
+     [
+      1.4,
+      -1.41
+     ],
+     [
+      1.5,
+      -1.31
+     ],
+     [
+      1.6,
+      -1.31
+     ],
+     [
+      1.6,
+      0.99
+     ],
+     [
+      -1.7,
+      0.99
+     ],
+     [
+      -1.7,
+      0.19
+     ],
+     [
+      -1.8,
+      0.09
+     ],
+     [
+      -1.8,
+      -0.11
+     ],
+     [
+      -1.9,
+      -0.21
+     ],
+     [
+      -2.1,
+      -0.21
+     ],
+     [
+      -2.2,
+      -0.11
+     ],
+     [
+      -2.5,
+      -0.11
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332908.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332908.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee065a5fd091b41de8d0cf1d86f51f2a7ecd2169
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332908.json	
@@ -0,0 +1,244 @@
+{
+ "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": [
+      0.2,
+      -0.82,
+      -0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.9,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      -0.92,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.79,
+      1.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.5,
+      -0.62,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.35,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.01,
+      -1.07
+     ],
+     [
+      -1.11,
+      -1.07
+     ],
+     [
+      -1.01,
+      -1.17
+     ],
+     [
+      -1.01,
+      -1.37
+     ],
+     [
+      0.89,
+      -1.37
+     ],
+     [
+      0.89,
+      0.63
+     ],
+     [
+      0.79,
+      0.63
+     ],
+     [
+      0.69,
+      0.73
+     ],
+     [
+      0.69,
+      0.83
+     ],
+     [
+      -2.01,
+      0.83
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332918.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332918.json
new file mode 100644
index 0000000000000000000000000000000000000000..95511bcd89e9325426d1da7d97eb8b9ab37181c6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47332918.json	
@@ -0,0 +1,628 @@
+{
+ "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": [
+      -0.55,
+      -1.34,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      2.12,
+      1.21,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.44,
+       0.0
+      ],
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.69,
+      -0.35,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.34,
+      0.73
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.88,
+      -0.28,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.36,
+      0.86
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.92,
+      -0.13,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.06,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.41,
+       0.0
+      ],
+      [
+       -0.41,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.25,
+      -0.76,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.08,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.36,
+       0.0
+      ],
+      [
+       -0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.77,
+      -0.24,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      1.34,
+      0.71
+     ],
+     "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": 3.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.89,
+      -1.74,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.25,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.99,
+      -0.28,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      1.35,
+      0.78,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.91,
+      -1.76,
+      1.28
+     ],
+     "3D oriented bounding box dimensions": [
+      1.49,
+      0.09,
+      0.75
+     ],
+     "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": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.5,
+      -2.07
+     ],
+     [
+      -3.4,
+      -2.07
+     ],
+     [
+      -3.3,
+      -2.17
+     ],
+     [
+      -3.3,
+      -2.27
+     ],
+     [
+      -3.2,
+      -2.37
+     ],
+     [
+      -3.2,
+      -2.67
+     ],
+     [
+      -3.1,
+      -2.77
+     ],
+     [
+      -3.1,
+      -2.87
+     ],
+     [
+      -3.0,
+      -2.97
+     ],
+     [
+      -3.0,
+      -3.17
+     ],
+     [
+      -2.9,
+      -3.27
+     ],
+     [
+      -2.9,
+      -3.57
+     ],
+     [
+      -0.4,
+      -3.57
+     ],
+     [
+      -0.4,
+      -3.47
+     ],
+     [
+      -0.3,
+      -3.37
+     ],
+     [
+      -0.2,
+      -3.37
+     ],
+     [
+      -0.1,
+      -3.27
+     ],
+     [
+      0.1,
+      -3.27
+     ],
+     [
+      0.2,
+      -3.17
+     ],
+     [
+      0.3,
+      -3.17
+     ],
+     [
+      0.3,
+      -2.97
+     ],
+     [
+      0.5,
+      -2.77
+     ],
+     [
+      0.7,
+      -2.77
+     ],
+     [
+      0.8,
+      -2.67
+     ],
+     [
+      1.1,
+      -2.67
+     ],
+     [
+      1.1,
+      -1.07
+     ],
+     [
+      1.0,
+      -1.07
+     ],
+     [
+      0.9,
+      -0.97
+     ],
+     [
+      0.9,
+      -0.67
+     ],
+     [
+      0.8,
+      -0.57
+     ],
+     [
+      0.8,
+      -0.37
+     ],
+     [
+      0.7,
+      -0.27
+     ],
+     [
+      0.7,
+      0.03
+     ],
+     [
+      0.9,
+      0.23
+     ],
+     [
+      0.9,
+      0.83
+     ],
+     [
+      0.8,
+      0.93
+     ],
+     [
+      0.8,
+      1.03
+     ],
+     [
+      -0.6,
+      1.03
+     ],
+     [
+      -0.6,
+      0.93
+     ],
+     [
+      -0.7,
+      0.83
+     ],
+     [
+      -0.8,
+      0.83
+     ],
+     [
+      -0.9,
+      0.73
+     ],
+     [
+      -1.5,
+      0.73
+     ],
+     [
+      -1.6,
+      0.63
+     ],
+     [
+      -1.9,
+      0.63
+     ],
+     [
+      -2.0,
+      0.53
+     ],
+     [
+      -2.1,
+      0.53
+     ],
+     [
+      -2.2,
+      0.43
+     ],
+     [
+      -2.4,
+      0.43
+     ],
+     [
+      -2.5,
+      0.33
+     ],
+     [
+      -2.7,
+      0.33
+     ],
+     [
+      -2.8,
+      0.23
+     ],
+     [
+      -3.0,
+      0.23
+     ],
+     [
+      -3.1,
+      0.13
+     ],
+     [
+      -3.2,
+      0.13
+     ],
+     [
+      -3.3,
+      0.03
+     ],
+     [
+      -3.5,
+      0.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333436.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d10d0ae7cd5c248127e15e1e5375b3a4451a0aa
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333436.json	
@@ -0,0 +1,572 @@
+{
+ "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": [
+      1.21,
+      -1.23,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      1.52,
+      0.51
+     ],
+     "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": 3.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.23,
+      -0.02,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.11,
+      0.25
+     ],
+     "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": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.83,
+      1.11,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.04,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      -1.22,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      1.51,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.3,
+      -0.14,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.03,
+      0.16
+     ],
+     "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": 2.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.08,
+      1.13,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.03,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       0.0
+      ],
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.64,
+      -1.79
+     ],
+     [
+      -2.54,
+      -1.79
+     ],
+     [
+      -2.44,
+      -1.89
+     ],
+     [
+      -2.44,
+      -2.19
+     ],
+     [
+      -1.44,
+      -2.19
+     ],
+     [
+      -1.44,
+      -1.69
+     ],
+     [
+      -1.64,
+      -1.49
+     ],
+     [
+      -1.74,
+      -1.49
+     ],
+     [
+      -1.84,
+      -1.39
+     ],
+     [
+      -1.84,
+      -1.09
+     ],
+     [
+      -1.74,
+      -0.99
+     ],
+     [
+      -1.04,
+      -0.99
+     ],
+     [
+      -0.94,
+      -1.09
+     ],
+     [
+      -0.94,
+      -1.19
+     ],
+     [
+      -0.84,
+      -1.29
+     ],
+     [
+      -0.84,
+      -1.49
+     ],
+     [
+      -0.44,
+      -1.89
+     ],
+     [
+      -0.34,
+      -1.89
+     ],
+     [
+      -0.14,
+      -2.09
+     ],
+     [
+      -0.14,
+      -2.19
+     ],
+     [
+      1.36,
+      -2.19
+     ],
+     [
+      1.36,
+      -2.09
+     ],
+     [
+      1.46,
+      -1.99
+     ],
+     [
+      1.66,
+      -1.99
+     ],
+     [
+      1.76,
+      -1.89
+     ],
+     [
+      1.86,
+      -1.89
+     ],
+     [
+      1.96,
+      -1.79
+     ],
+     [
+      2.16,
+      -1.79
+     ],
+     [
+      2.26,
+      -1.69
+     ],
+     [
+      2.46,
+      -1.69
+     ],
+     [
+      2.56,
+      -1.59
+     ],
+     [
+      2.66,
+      -1.59
+     ],
+     [
+      2.66,
+      0.21
+     ],
+     [
+      2.46,
+      0.21
+     ],
+     [
+      2.36,
+      0.31
+     ],
+     [
+      2.36,
+      0.41
+     ],
+     [
+      2.16,
+      0.61
+     ],
+     [
+      2.16,
+      0.91
+     ],
+     [
+      2.06,
+      1.01
+     ],
+     [
+      2.06,
+      1.21
+     ],
+     [
+      1.96,
+      1.31
+     ],
+     [
+      1.66,
+      1.31
+     ],
+     [
+      1.56,
+      1.41
+     ],
+     [
+      1.56,
+      1.61
+     ],
+     [
+      1.46,
+      1.71
+     ],
+     [
+      1.46,
+      1.81
+     ],
+     [
+      0.06,
+      1.81
+     ],
+     [
+      0.06,
+      1.71
+     ],
+     [
+      -0.04,
+      1.61
+     ],
+     [
+      -0.24,
+      1.61
+     ],
+     [
+      -0.34,
+      1.51
+     ],
+     [
+      -0.44,
+      1.51
+     ],
+     [
+      -0.54,
+      1.41
+     ],
+     [
+      -0.74,
+      1.41
+     ],
+     [
+      -0.84,
+      1.31
+     ],
+     [
+      -1.04,
+      1.31
+     ],
+     [
+      -1.14,
+      1.21
+     ],
+     [
+      -1.24,
+      1.21
+     ],
+     [
+      -1.34,
+      1.11
+     ],
+     [
+      -1.54,
+      1.11
+     ],
+     [
+      -1.54,
+      0.61
+     ],
+     [
+      -1.84,
+      0.31
+     ],
+     [
+      -1.94,
+      0.31
+     ],
+     [
+      -2.14,
+      0.11
+     ],
+     [
+      -2.14,
+      -0.09
+     ],
+     [
+      -2.24,
+      -0.19
+     ],
+     [
+      -2.64,
+      -0.19
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333441.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333441.json
new file mode 100644
index 0000000000000000000000000000000000000000..567a492dae902dbd18871a0d42fcd450572f4797
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333441.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      0.93,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.51,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.41,
+      -0.42,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.3,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      0.14,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.59,
+      1.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.08,
+      0.0,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.3,
+      0.68
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      -0.24,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.15,
+      0.14
+     ],
+     "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": 0.33
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      -1.12,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.28,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.24,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.17,
+      -1.85
+     ],
+     [
+      1.83,
+      -1.85
+     ],
+     [
+      1.83,
+      0.15
+     ],
+     [
+      1.73,
+      0.15
+     ],
+     [
+      1.63,
+      0.25
+     ],
+     [
+      1.63,
+      0.65
+     ],
+     [
+      1.53,
+      0.75
+     ],
+     [
+      1.53,
+      1.05
+     ],
+     [
+      1.43,
+      1.15
+     ],
+     [
+      1.43,
+      1.45
+     ],
+     [
+      -0.97,
+      1.45
+     ],
+     [
+      -0.97,
+      1.25
+     ],
+     [
+      -1.07,
+      1.15
+     ],
+     [
+      -1.17,
+      1.15
+     ],
+     [
+      -1.17,
+      -0.25
+     ],
+     [
+      -1.07,
+      -0.25
+     ],
+     [
+      -0.97,
+      -0.35
+     ],
+     [
+      -0.97,
+      -0.65
+     ],
+     [
+      -1.07,
+      -0.75
+     ],
+     [
+      -1.17,
+      -0.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333457.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333457.json
new file mode 100644
index 0000000000000000000000000000000000000000..5719ff3d1a793e0260e4ccdaea708b39b5933f74
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333457.json	
@@ -0,0 +1,844 @@
+{
+ "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": [
+      -1.7,
+      -1.07,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.72,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.57,
+      0.19,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.26,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      -2.66,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.38,
+      0.79
+     ],
+     "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": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.05,
+      -2.08,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.37,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.99,
+      -2.39,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.22,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      -2.12,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.23,
+      0.6
+     ],
+     "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": 1.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      -0.32,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.09,
+      1.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.01,
+      -2.09,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.48,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.59,
+      -2.62,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.4,
+      0.79
+     ],
+     "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": 1.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.49,
+      0.67,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.47,
+      0.17
+     ],
+     "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": 1.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.03,
+      -2.51,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.65,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.14,
+      -2.44,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.25,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.36,
+       0.0
+      ],
+      [
+       -0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      3.14,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.35,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.14,
+      -1.57,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.95,
+      0.06,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.08,
+      -1.61,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.65,
+      0.21
+     ],
+     "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": 0.83
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.57,
+      2.8,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.31,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.35,
+       0.0
+      ],
+      [
+       0.35,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.41,
+      -3.08
+     ],
+     [
+      0.29,
+      -3.08
+     ],
+     [
+      0.29,
+      -2.68
+     ],
+     [
+      0.39,
+      -2.58
+     ],
+     [
+      0.39,
+      -2.38
+     ],
+     [
+      0.49,
+      -2.28
+     ],
+     [
+      0.49,
+      -1.58
+     ],
+     [
+      0.59,
+      -1.48
+     ],
+     [
+      0.59,
+      -1.18
+     ],
+     [
+      0.69,
+      -1.08
+     ],
+     [
+      0.69,
+      -0.48
+     ],
+     [
+      0.79,
+      -0.38
+     ],
+     [
+      1.09,
+      -0.38
+     ],
+     [
+      1.19,
+      -0.48
+     ],
+     [
+      1.69,
+      -0.48
+     ],
+     [
+      1.69,
+      1.12
+     ],
+     [
+      0.89,
+      1.12
+     ],
+     [
+      0.79,
+      1.22
+     ],
+     [
+      0.79,
+      1.42
+     ],
+     [
+      0.69,
+      1.52
+     ],
+     [
+      0.69,
+      1.92
+     ],
+     [
+      0.59,
+      2.02
+     ],
+     [
+      0.59,
+      2.22
+     ],
+     [
+      0.69,
+      2.32
+     ],
+     [
+      0.79,
+      2.32
+     ],
+     [
+      0.79,
+      3.22
+     ],
+     [
+      0.69,
+      3.32
+     ],
+     [
+      0.69,
+      3.42
+     ],
+     [
+      0.29,
+      3.42
+     ],
+     [
+      0.29,
+      3.32
+     ],
+     [
+      0.19,
+      3.22
+     ],
+     [
+      0.19,
+      2.22
+     ],
+     [
+      0.09,
+      2.12
+     ],
+     [
+      -0.61,
+      2.12
+     ],
+     [
+      -0.61,
+      1.32
+     ],
+     [
+      -0.71,
+      1.22
+     ],
+     [
+      -1.31,
+      1.22
+     ],
+     [
+      -1.41,
+      1.32
+     ],
+     [
+      -2.01,
+      1.32
+     ],
+     [
+      -2.11,
+      1.42
+     ],
+     [
+      -2.71,
+      1.42
+     ],
+     [
+      -2.71,
+      1.32
+     ],
+     [
+      -2.81,
+      1.22
+     ],
+     [
+      -2.91,
+      1.22
+     ],
+     [
+      -2.91,
+      1.02
+     ],
+     [
+      -3.01,
+      0.92
+     ],
+     [
+      -3.01,
+      0.72
+     ],
+     [
+      -3.11,
+      0.62
+     ],
+     [
+      -3.11,
+      -0.08
+     ],
+     [
+      -3.21,
+      -0.18
+     ],
+     [
+      -3.21,
+      -0.28
+     ],
+     [
+      -3.31,
+      -0.38
+     ],
+     [
+      -3.41,
+      -0.38
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333899.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333899.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cc1272b3a2af5d0f97bbcdb30684d2bc4d38ea4
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333899.json	
@@ -0,0 +1,720 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.73,
+      0.6,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.39,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      1.85,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.38,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.39,
+       0.0
+      ],
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.3,
+      2.08,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.05,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.5,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.84,
+      0.26,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.17,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.51,
+       0.0
+      ],
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.18,
+      1.18,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.32,
+      1.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.73,
+      0.59,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.43,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.49,
+       0.0
+      ],
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      1.96,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.26,
+      0.19
+     ],
+     "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": 2.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.44,
+      -0.01,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.29,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       0.64,
+       0.0
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.34,
+      0.74,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.47,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.36,
+       0.0
+      ],
+      [
+       -0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      1.25,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.95,
+      0.03
+     ],
+     "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": 1.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.82,
+      0.19,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.43,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.28,
+      -1.02,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.12,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.73,
+      -1.38
+     ],
+     [
+      -0.43,
+      -1.38
+     ],
+     [
+      -0.43,
+      -1.28
+     ],
+     [
+      -0.03,
+      -0.88
+     ],
+     [
+      0.07,
+      -0.88
+     ],
+     [
+      0.17,
+      -0.78
+     ],
+     [
+      0.27,
+      -0.78
+     ],
+     [
+      0.57,
+      -0.48
+     ],
+     [
+      0.67,
+      -0.48
+     ],
+     [
+      0.77,
+      -0.38
+     ],
+     [
+      0.87,
+      -0.38
+     ],
+     [
+      1.07,
+      -0.18
+     ],
+     [
+      1.17,
+      -0.18
+     ],
+     [
+      1.37,
+      0.02
+     ],
+     [
+      1.47,
+      0.02
+     ],
+     [
+      1.67,
+      0.22
+     ],
+     [
+      1.77,
+      0.22
+     ],
+     [
+      1.97,
+      0.42
+     ],
+     [
+      2.07,
+      0.42
+     ],
+     [
+      2.27,
+      0.62
+     ],
+     [
+      2.37,
+      0.62
+     ],
+     [
+      2.47,
+      0.72
+     ],
+     [
+      2.67,
+      0.72
+     ],
+     [
+      2.67,
+      2.42
+     ],
+     [
+      2.57,
+      2.42
+     ],
+     [
+      2.47,
+      2.52
+     ],
+     [
+      2.47,
+      2.62
+     ],
+     [
+      2.27,
+      2.82
+     ],
+     [
+      2.27,
+      2.92
+     ],
+     [
+      0.67,
+      2.92
+     ],
+     [
+      0.67,
+      2.82
+     ],
+     [
+      0.57,
+      2.72
+     ],
+     [
+      0.47,
+      2.72
+     ],
+     [
+      0.27,
+      2.52
+     ],
+     [
+      0.17,
+      2.52
+     ],
+     [
+      -0.13,
+      2.22
+     ],
+     [
+      -0.23,
+      2.22
+     ],
+     [
+      -0.43,
+      2.02
+     ],
+     [
+      -0.53,
+      2.02
+     ],
+     [
+      -0.53,
+      1.52
+     ],
+     [
+      -0.63,
+      1.42
+     ],
+     [
+      -0.83,
+      1.42
+     ],
+     [
+      -0.83,
+      0.92
+     ],
+     [
+      -0.73,
+      0.82
+     ],
+     [
+      -0.73,
+      0.32
+     ],
+     [
+      -0.83,
+      0.22
+     ],
+     [
+      -0.93,
+      0.22
+     ],
+     [
+      -1.03,
+      0.12
+     ],
+     [
+      -1.03,
+      -0.28
+     ],
+     [
+      -1.13,
+      -0.38
+     ],
+     [
+      -1.33,
+      -0.38
+     ],
+     [
+      -1.43,
+      -0.48
+     ],
+     [
+      -1.43,
+      -0.68
+     ],
+     [
+      -1.53,
+      -0.78
+     ],
+     [
+      -1.73,
+      -0.78
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333918.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333918.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb89f5df6462fe4743d3298e60cc5b1de5234bd7
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333918.json	
@@ -0,0 +1,398 @@
+{
+ "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": [
+      1.47,
+      1.84,
+      -0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.3,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.33,
+      0.36,
+      -0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.08,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      0.42,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      0.37,
+      0.37
+     ],
+     "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": 0.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      1.91,
+      1.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.04,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       0.67,
+       0.0
+      ],
+      [
+       -0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.98,
+      -1.22
+     ],
+     [
+      -0.88,
+      -1.22
+     ],
+     [
+      -0.78,
+      -1.32
+     ],
+     [
+      -0.48,
+      -1.32
+     ],
+     [
+      -0.38,
+      -1.42
+     ],
+     [
+      -0.38,
+      -1.72
+     ],
+     [
+      1.02,
+      -1.72
+     ],
+     [
+      1.02,
+      -1.52
+     ],
+     [
+      1.32,
+      -1.22
+     ],
+     [
+      1.32,
+      -1.12
+     ],
+     [
+      1.42,
+      -1.02
+     ],
+     [
+      1.52,
+      -1.02
+     ],
+     [
+      1.82,
+      -0.72
+     ],
+     [
+      1.82,
+      -0.42
+     ],
+     [
+      2.02,
+      -0.22
+     ],
+     [
+      2.22,
+      -0.22
+     ],
+     [
+      2.32,
+      -0.12
+     ],
+     [
+      2.42,
+      -0.12
+     ],
+     [
+      2.62,
+      0.08
+     ],
+     [
+      2.62,
+      1.18
+     ],
+     [
+      2.72,
+      1.28
+     ],
+     [
+      2.92,
+      1.28
+     ],
+     [
+      2.92,
+      2.28
+     ],
+     [
+      2.82,
+      2.28
+     ],
+     [
+      2.72,
+      2.38
+     ],
+     [
+      2.72,
+      2.48
+     ],
+     [
+      0.62,
+      2.48
+     ],
+     [
+      0.62,
+      2.38
+     ],
+     [
+      0.52,
+      2.28
+     ],
+     [
+      0.42,
+      2.28
+     ],
+     [
+      0.22,
+      2.08
+     ],
+     [
+      0.22,
+      1.98
+     ],
+     [
+      -0.08,
+      1.68
+     ],
+     [
+      -0.18,
+      1.68
+     ],
+     [
+      -0.28,
+      1.58
+     ],
+     [
+      -0.28,
+      1.48
+     ],
+     [
+      -0.38,
+      1.38
+     ],
+     [
+      -0.48,
+      1.38
+     ],
+     [
+      -0.88,
+      0.98
+     ],
+     [
+      -0.98,
+      0.98
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333924.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333924.json
new file mode 100644
index 0000000000000000000000000000000000000000..47bd23d22902c7f5cba95c71facfccfdda9b9cf0
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333924.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.65,
+      -1.2,
+      -0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      0.71,
+      0.37
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.84,
+      -0.81,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.8,
+      0.17
+     ],
+     "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": 0.83
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      -0.7,
+      -0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.04,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      -0.71,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.32,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.38,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      -0.76,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.32,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.5,
+      -2.05
+     ],
+     [
+      0.2,
+      -2.05
+     ],
+     [
+      0.2,
+      -1.95
+     ],
+     [
+      0.4,
+      -1.75
+     ],
+     [
+      0.5,
+      -1.75
+     ],
+     [
+      0.6,
+      -1.65
+     ],
+     [
+      0.7,
+      -1.65
+     ],
+     [
+      0.9,
+      -1.45
+     ],
+     [
+      1.0,
+      -1.45
+     ],
+     [
+      1.2,
+      -1.25
+     ],
+     [
+      1.3,
+      -1.25
+     ],
+     [
+      1.3,
+      -0.15
+     ],
+     [
+      1.2,
+      -0.15
+     ],
+     [
+      1.0,
+      0.05
+     ],
+     [
+      1.0,
+      0.15
+     ],
+     [
+      0.7,
+      0.45
+     ],
+     [
+      0.6,
+      0.45
+     ],
+     [
+      0.5,
+      0.55
+     ],
+     [
+      0.5,
+      0.75
+     ],
+     [
+      -0.7,
+      0.75
+     ],
+     [
+      -0.7,
+      -0.05
+     ],
+     [
+      -0.8,
+      -0.15
+     ],
+     [
+      -0.9,
+      -0.15
+     ],
+     [
+      -1.0,
+      -0.25
+     ],
+     [
+      -1.1,
+      -0.25
+     ],
+     [
+      -1.2,
+      -0.35
+     ],
+     [
+      -1.3,
+      -0.35
+     ],
+     [
+      -1.4,
+      -0.45
+     ],
+     [
+      -1.5,
+      -0.45
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333932.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333932.json
new file mode 100644
index 0000000000000000000000000000000000000000..68e7a2001a5c7866fcaf6d14cf3ee7316a2ac3bb
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333932.json	
@@ -0,0 +1,466 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.99,
+      0.52,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.44,
+      0.94,
+      0.22
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      -0.46,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.45,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.72,
+      -0.46,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.37,
+      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": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.08,
+      0.77,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.44,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.5,
+      0.81,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.57,
+      0.34
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.63,
+      -0.41,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.13,
+      1.01
+     ],
+     "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": 0.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      0.65,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.39,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.29,
+      -0.19,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.13,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.6,
+      0.41,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.22,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.73,
+      -0.8
+     ],
+     [
+      1.07,
+      -0.8
+     ],
+     [
+      1.17,
+      -0.9
+     ],
+     [
+      1.17,
+      -1.1
+     ],
+     [
+      3.37,
+      -1.1
+     ],
+     [
+      3.37,
+      1.2
+     ],
+     [
+      3.07,
+      1.2
+     ],
+     [
+      2.87,
+      1.4
+     ],
+     [
+      2.87,
+      1.5
+     ],
+     [
+      1.17,
+      1.5
+     ],
+     [
+      1.07,
+      1.4
+     ],
+     [
+      0.87,
+      1.4
+     ],
+     [
+      0.77,
+      1.3
+     ],
+     [
+      -0.33,
+      1.3
+     ],
+     [
+      -0.63,
+      1.6
+     ],
+     [
+      -0.63,
+      1.9
+     ],
+     [
+      -1.73,
+      1.9
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333940.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333940.json
new file mode 100644
index 0000000000000000000000000000000000000000..d587d1a7e42d4d1b0ea9e9897d9b3224d99d77e6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47333940.json	
@@ -0,0 +1,620 @@
+{
+ "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": [
+      -2.23,
+      1.84,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      1.17,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.28,
+       0.0
+      ],
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.21,
+      0.28,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.6,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.16,
+       0.0
+      ],
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      -0.25,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      1.02,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      0.93,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      1.61,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.21,
+      0.19,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.24,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.7,
+      -0.38,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.31,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.53,
+      -0.84,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.52,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.27,
+      0.97,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.34,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      0.36,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.33,
+      0.02
+     ],
+     "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": 2.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.38,
+      1.18,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.04,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.01,
+      -0.44
+     ],
+     [
+      -2.91,
+      -0.44
+     ],
+     [
+      -2.81,
+      -0.54
+     ],
+     [
+      -2.81,
+      -0.84
+     ],
+     [
+      -2.61,
+      -1.04
+     ],
+     [
+      -2.51,
+      -1.04
+     ],
+     [
+      -2.41,
+      -1.14
+     ],
+     [
+      -2.01,
+      -1.14
+     ],
+     [
+      -1.91,
+      -1.24
+     ],
+     [
+      -1.51,
+      -1.24
+     ],
+     [
+      -1.41,
+      -1.34
+     ],
+     [
+      -1.41,
+      -1.44
+     ],
+     [
+      1.69,
+      -1.44
+     ],
+     [
+      1.69,
+      -1.34
+     ],
+     [
+      1.79,
+      -1.24
+     ],
+     [
+      1.79,
+      -0.64
+     ],
+     [
+      1.89,
+      -0.54
+     ],
+     [
+      1.99,
+      -0.54
+     ],
+     [
+      1.99,
+      2.06
+     ],
+     [
+      1.59,
+      2.06
+     ],
+     [
+      1.49,
+      2.16
+     ],
+     [
+      1.09,
+      2.16
+     ],
+     [
+      0.99,
+      2.26
+     ],
+     [
+      0.79,
+      2.26
+     ],
+     [
+      0.69,
+      2.36
+     ],
+     [
+      0.39,
+      2.36
+     ],
+     [
+      0.29,
+      2.46
+     ],
+     [
+      -0.21,
+      2.46
+     ],
+     [
+      -0.31,
+      2.56
+     ],
+     [
+      -0.71,
+      2.56
+     ],
+     [
+      -0.81,
+      2.66
+     ],
+     [
+      -0.81,
+      2.86
+     ],
+     [
+      -0.71,
+      2.96
+     ],
+     [
+      -0.71,
+      3.36
+     ],
+     [
+      -1.81,
+      3.36
+     ],
+     [
+      -1.81,
+      3.26
+     ],
+     [
+      -1.91,
+      3.16
+     ],
+     [
+      -1.91,
+      2.96
+     ],
+     [
+      -2.01,
+      2.86
+     ],
+     [
+      -2.61,
+      2.86
+     ],
+     [
+      -2.71,
+      2.76
+     ],
+     [
+      -2.71,
+      2.46
+     ],
+     [
+      -2.81,
+      2.36
+     ],
+     [
+      -2.81,
+      1.96
+     ],
+     [
+      -2.91,
+      1.86
+     ],
+     [
+      -3.01,
+      1.86
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334096.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334096.json
new file mode 100644
index 0000000000000000000000000000000000000000..36ef7be87c4104b38fa1787332388dd49d9cf7ef
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334096.json	
@@ -0,0 +1,1012 @@
+{
+ "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": [
+      -1.15,
+      0.69,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.68,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      -0.01,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.2,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.17,
+       0.0
+      ],
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      0.08,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.33,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.12,
+      1.45,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.68,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       0.62,
+       0.0
+      ],
+      [
+       -0.62,
+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      -2.66,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.17,
+      0.37
+     ],
+     "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": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.06,
+      -2.63,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.12,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.33,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      1.91,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.51,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      0.4,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      1.07,
+      0.65
+     ],
+     "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": 2.17
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.75,
+      2.28,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.23,
+      0.03
+     ],
+     "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": 5.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.84,
+      -0.4,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.71,
+      0.32
+     ],
+     "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": 3.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.27,
+      -0.11
+     ],
+     [
+      -2.17,
+      -0.11
+     ],
+     [
+      -2.07,
+      -0.21
+     ],
+     [
+      -2.07,
+      -0.41
+     ],
+     [
+      -1.97,
+      -0.51
+     ],
+     [
+      -1.97,
+      -0.81
+     ],
+     [
+      -1.87,
+      -0.91
+     ],
+     [
+      -1.77,
+      -0.91
+     ],
+     [
+      -1.67,
+      -1.01
+     ],
+     [
+      -1.67,
+      -1.21
+     ],
+     [
+      -1.57,
+      -1.31
+     ],
+     [
+      -1.57,
+      -1.41
+     ],
+     [
+      -1.47,
+      -1.51
+     ],
+     [
+      -1.47,
+      -1.71
+     ],
+     [
+      -0.87,
+      -1.71
+     ],
+     [
+      -0.77,
+      -1.81
+     ],
+     [
+      -0.77,
+      -3.11
+     ],
+     [
+      1.23,
+      -3.11
+     ],
+     [
+      1.23,
+      -3.01
+     ],
+     [
+      1.33,
+      -2.91
+     ],
+     [
+      1.53,
+      -2.91
+     ],
+     [
+      1.63,
+      -2.81
+     ],
+     [
+      1.83,
+      -2.81
+     ],
+     [
+      1.93,
+      -2.71
+     ],
+     [
+      1.93,
+      -2.21
+     ],
+     [
+      1.43,
+      -2.21
+     ],
+     [
+      1.33,
+      -2.11
+     ],
+     [
+      1.33,
+      -1.81
+     ],
+     [
+      1.23,
+      -1.81
+     ],
+     [
+      1.13,
+      -1.71
+     ],
+     [
+      1.13,
+      -1.61
+     ],
+     [
+      0.83,
+      -1.31
+     ],
+     [
+      0.83,
+      -1.21
+     ],
+     [
+      0.73,
+      -1.11
+     ],
+     [
+      0.73,
+      -0.51
+     ],
+     [
+      0.63,
+      -0.41
+     ],
+     [
+      0.63,
+      -0.01
+     ],
+     [
+      0.73,
+      0.09
+     ],
+     [
+      0.73,
+      0.19
+     ],
+     [
+      0.83,
+      0.29
+     ],
+     [
+      1.63,
+      0.29
+     ],
+     [
+      1.73,
+      0.39
+     ],
+     [
+      1.83,
+      0.39
+     ],
+     [
+      1.93,
+      0.49
+     ],
+     [
+      2.13,
+      0.49
+     ],
+     [
+      2.23,
+      0.39
+     ],
+     [
+      2.23,
+      -0.21
+     ],
+     [
+      2.33,
+      -0.31
+     ],
+     [
+      2.33,
+      -0.51
+     ],
+     [
+      2.43,
+      -0.61
+     ],
+     [
+      2.43,
+      -0.71
+     ],
+     [
+      2.53,
+      -0.81
+     ],
+     [
+      2.53,
+      -1.01
+     ],
+     [
+      2.63,
+      -1.11
+     ],
+     [
+      2.63,
+      -1.31
+     ],
+     [
+      2.83,
+      -1.51
+     ],
+     [
+      3.33,
+      -1.51
+     ],
+     [
+      3.43,
+      -1.41
+     ],
+     [
+      3.43,
+      -0.91
+     ],
+     [
+      3.53,
+      -0.81
+     ],
+     [
+      4.03,
+      -0.81
+     ],
+     [
+      4.13,
+      -0.71
+     ],
+     [
+      4.13,
+      -0.21
+     ],
+     [
+      4.03,
+      -0.11
+     ],
+     [
+      4.03,
+      -0.01
+     ],
+     [
+      3.53,
+      0.49
+     ],
+     [
+      3.53,
+      0.79
+     ],
+     [
+      3.43,
+      0.89
+     ],
+     [
+      3.43,
+      1.29
+     ],
+     [
+      3.33,
+      1.29
+     ],
+     [
+      3.23,
+      1.39
+     ],
+     [
+      3.23,
+      1.59
+     ],
+     [
+      3.33,
+      1.69
+     ],
+     [
+      3.43,
+      1.69
+     ],
+     [
+      3.53,
+      1.79
+     ],
+     [
+      3.53,
+      2.39
+     ],
+     [
+      3.63,
+      2.49
+     ],
+     [
+      3.83,
+      2.49
+     ],
+     [
+      3.93,
+      2.39
+     ],
+     [
+      3.93,
+      2.19
+     ],
+     [
+      4.03,
+      2.09
+     ],
+     [
+      4.03,
+      1.89
+     ],
+     [
+      4.23,
+      1.69
+     ],
+     [
+      4.23,
+      1.49
+     ],
+     [
+      4.33,
+      1.39
+     ],
+     [
+      4.63,
+      1.39
+     ],
+     [
+      4.63,
+      3.09
+     ],
+     [
+      4.53,
+      3.09
+     ],
+     [
+      4.43,
+      3.19
+     ],
+     [
+      4.43,
+      3.49
+     ],
+     [
+      4.23,
+      3.69
+     ],
+     [
+      4.23,
+      3.89
+     ],
+     [
+      4.13,
+      3.99
+     ],
+     [
+      4.13,
+      4.09
+     ],
+     [
+      4.03,
+      4.19
+     ],
+     [
+      4.03,
+      4.29
+     ],
+     [
+      3.93,
+      4.39
+     ],
+     [
+      3.93,
+      4.49
+     ],
+     [
+      3.83,
+      4.59
+     ],
+     [
+      3.83,
+      4.69
+     ],
+     [
+      2.43,
+      4.69
+     ],
+     [
+      2.43,
+      4.59
+     ],
+     [
+      2.33,
+      4.49
+     ],
+     [
+      2.33,
+      3.89
+     ],
+     [
+      2.63,
+      3.89
+     ],
+     [
+      2.73,
+      3.79
+     ],
+     [
+      2.83,
+      3.79
+     ],
+     [
+      2.93,
+      3.69
+     ],
+     [
+      3.03,
+      3.69
+     ],
+     [
+      3.13,
+      3.59
+     ],
+     [
+      3.13,
+      2.99
+     ],
+     [
+      3.03,
+      2.89
+     ],
+     [
+      2.53,
+      2.89
+     ],
+     [
+      2.43,
+      2.79
+     ],
+     [
+      2.03,
+      2.79
+     ],
+     [
+      1.93,
+      2.89
+     ],
+     [
+      1.83,
+      2.89
+     ],
+     [
+      1.73,
+      2.99
+     ],
+     [
+      1.73,
+      3.09
+     ],
+     [
+      1.13,
+      3.09
+     ],
+     [
+      1.03,
+      2.99
+     ],
+     [
+      0.93,
+      2.99
+     ],
+     [
+      0.83,
+      2.89
+     ],
+     [
+      0.53,
+      2.89
+     ],
+     [
+      0.43,
+      2.79
+     ],
+     [
+      0.23,
+      2.79
+     ],
+     [
+      0.13,
+      2.69
+     ],
+     [
+      0.03,
+      2.69
+     ],
+     [
+      -0.07,
+      2.59
+     ],
+     [
+      -0.27,
+      2.59
+     ],
+     [
+      -0.37,
+      2.49
+     ],
+     [
+      -0.57,
+      2.49
+     ],
+     [
+      -0.67,
+      2.39
+     ],
+     [
+      -0.87,
+      2.39
+     ],
+     [
+      -0.97,
+      2.29
+     ],
+     [
+      -1.17,
+      2.29
+     ],
+     [
+      -1.27,
+      2.19
+     ],
+     [
+      -1.37,
+      2.19
+     ],
+     [
+      -1.47,
+      2.09
+     ],
+     [
+      -1.67,
+      2.09
+     ],
+     [
+      -1.77,
+      1.99
+     ],
+     [
+      -1.97,
+      1.99
+     ],
+     [
+      -2.07,
+      1.89
+     ],
+     [
+      -2.27,
+      1.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334103.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334103.json
new file mode 100644
index 0000000000000000000000000000000000000000..83afb89c9f6e2a16e3b8ae3d2fd70c8ea3b52052
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334103.json	
@@ -0,0 +1,945 @@
+{
+ "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": [
+      5.61,
+      3.89,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      0.31,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.28,
+      -1.27,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      2.04,
+      1.11,
+      1.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.32,
+       0.0
+      ],
+      [
+       0.32,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.3,
+      -1.86,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.23,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.73,
+      -1.58,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.36,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.46,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.12,
+      1.58,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.14,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      0.18,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.32,
+      0.85,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.12,
+      1.52,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.33,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.66,
+       0.0
+      ],
+      [
+       0.66,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      2.85,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.6,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.01,
+      1.67,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      0.08,
+      0.5
+     ],
+     "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": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      4.75,
+      3.09
+     ],
+     [
+      5.25,
+      3.09
+     ],
+     [
+      5.35,
+      3.19
+     ],
+     [
+      5.45,
+      3.19
+     ],
+     [
+      5.55,
+      3.29
+     ],
+     [
+      5.65,
+      3.29
+     ],
+     [
+      5.85,
+      3.49
+     ],
+     [
+      5.95,
+      3.49
+     ],
+     [
+      6.05,
+      3.59
+     ],
+     [
+      6.15,
+      3.59
+     ],
+     [
+      6.25,
+      3.69
+     ],
+     [
+      6.35,
+      3.69
+     ],
+     [
+      6.35,
+      4.29
+     ],
+     [
+      6.15,
+      4.29
+     ],
+     [
+      6.05,
+      4.39
+     ],
+     [
+      6.05,
+      4.49
+     ],
+     [
+      5.35,
+      4.49
+     ],
+     [
+      5.35,
+      4.39
+     ],
+     [
+      5.25,
+      4.29
+     ],
+     [
+      5.25,
+      4.09
+     ],
+     [
+      5.05,
+      3.89
+     ],
+     [
+      5.05,
+      3.79
+     ],
+     [
+      4.75,
+      3.49
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -0.65,
+      0.19
+     ],
+     [
+      -0.55,
+      0.19
+     ],
+     [
+      -0.35,
+      -0.01
+     ],
+     [
+      -0.25,
+      -0.01
+     ],
+     [
+      0.05,
+      -0.31
+     ],
+     [
+      0.05,
+      -0.41
+     ],
+     [
+      0.15,
+      -0.51
+     ],
+     [
+      0.15,
+      -0.61
+     ],
+     [
+      0.25,
+      -0.71
+     ],
+     [
+      0.65,
+      -0.71
+     ],
+     [
+      0.65,
+      -0.51
+     ],
+     [
+      0.75,
+      -0.41
+     ],
+     [
+      0.95,
+      -0.41
+     ],
+     [
+      1.05,
+      -0.51
+     ],
+     [
+      1.15,
+      -0.51
+     ],
+     [
+      1.45,
+      -0.81
+     ],
+     [
+      1.55,
+      -0.81
+     ],
+     [
+      1.65,
+      -0.91
+     ],
+     [
+      1.65,
+      -1.41
+     ],
+     [
+      1.45,
+      -1.61
+     ],
+     [
+      1.25,
+      -1.61
+     ],
+     [
+      1.15,
+      -1.71
+     ],
+     [
+      1.15,
+      -1.81
+     ],
+     [
+      0.95,
+      -2.01
+     ],
+     [
+      0.35,
+      -2.01
+     ],
+     [
+      0.35,
+      -2.31
+     ],
+     [
+      0.25,
+      -2.41
+     ],
+     [
+      0.15,
+      -2.41
+     ],
+     [
+      0.15,
+      -2.81
+     ],
+     [
+      0.25,
+      -2.91
+     ],
+     [
+      0.35,
+      -2.91
+     ],
+     [
+      0.45,
+      -3.01
+     ],
+     [
+      0.75,
+      -3.01
+     ],
+     [
+      0.85,
+      -3.11
+     ],
+     [
+      0.85,
+      -3.31
+     ],
+     [
+      0.95,
+      -3.41
+     ],
+     [
+      0.95,
+      -3.51
+     ],
+     [
+      3.25,
+      -3.51
+     ],
+     [
+      3.25,
+      -3.21
+     ],
+     [
+      3.35,
+      -3.11
+     ],
+     [
+      3.65,
+      -3.11
+     ],
+     [
+      3.85,
+      -2.91
+     ],
+     [
+      3.85,
+      -2.61
+     ],
+     [
+      3.95,
+      -2.51
+     ],
+     [
+      3.95,
+      -2.41
+     ],
+     [
+      4.35,
+      -2.01
+     ],
+     [
+      4.35,
+      -1.91
+     ],
+     [
+      4.45,
+      -1.81
+     ],
+     [
+      4.65,
+      -1.81
+     ],
+     [
+      4.75,
+      -1.71
+     ],
+     [
+      4.75,
+      -1.61
+     ],
+     [
+      5.05,
+      -1.31
+     ],
+     [
+      5.15,
+      -1.31
+     ],
+     [
+      5.65,
+      -0.81
+     ],
+     [
+      5.75,
+      -0.81
+     ],
+     [
+      5.75,
+      -0.61
+     ],
+     [
+      5.85,
+      -0.51
+     ],
+     [
+      5.85,
+      0.59
+     ],
+     [
+      5.75,
+      0.69
+     ],
+     [
+      5.75,
+      0.89
+     ],
+     [
+      5.65,
+      0.99
+     ],
+     [
+      5.55,
+      0.99
+     ],
+     [
+      5.15,
+      1.39
+     ],
+     [
+      5.15,
+      1.49
+     ],
+     [
+      5.05,
+      1.49
+     ],
+     [
+      4.85,
+      1.69
+     ],
+     [
+      4.75,
+      1.69
+     ],
+     [
+      4.55,
+      1.89
+     ],
+     [
+      4.45,
+      1.89
+     ],
+     [
+      4.05,
+      2.29
+     ],
+     [
+      4.05,
+      2.49
+     ],
+     [
+      4.25,
+      2.69
+     ],
+     [
+      4.25,
+      3.09
+     ],
+     [
+      4.15,
+      3.09
+     ],
+     [
+      4.05,
+      3.19
+     ],
+     [
+      4.05,
+      3.99
+     ],
+     [
+      3.35,
+      3.99
+     ],
+     [
+      3.25,
+      3.89
+     ],
+     [
+      3.15,
+      3.89
+     ],
+     [
+      2.95,
+      3.69
+     ],
+     [
+      2.95,
+      3.59
+     ],
+     [
+      2.75,
+      3.39
+     ],
+     [
+      2.45,
+      3.39
+     ],
+     [
+      2.35,
+      3.49
+     ],
+     [
+      2.25,
+      3.49
+     ],
+     [
+      2.15,
+      3.59
+     ],
+     [
+      2.05,
+      3.59
+     ],
+     [
+      1.95,
+      3.69
+     ],
+     [
+      1.85,
+      3.69
+     ],
+     [
+      1.75,
+      3.79
+     ],
+     [
+      1.15,
+      3.79
+     ],
+     [
+      1.05,
+      3.89
+     ],
+     [
+      1.05,
+      3.99
+     ],
+     [
+      0.55,
+      3.99
+     ],
+     [
+      0.45,
+      3.89
+     ],
+     [
+      0.45,
+      3.79
+     ],
+     [
+      0.35,
+      3.69
+     ],
+     [
+      -0.15,
+      3.69
+     ],
+     [
+      -0.15,
+      3.19
+     ],
+     [
+      -0.55,
+      2.79
+     ],
+     [
+      -0.65,
+      2.79
+     ],
+     [
+      -0.65,
+      2.29
+     ],
+     [
+      -0.55,
+      2.29
+     ],
+     [
+      -0.45,
+      2.19
+     ],
+     [
+      -0.35,
+      2.19
+     ],
+     [
+      -0.25,
+      2.09
+     ],
+     [
+      -0.25,
+      1.89
+     ],
+     [
+      -0.45,
+      1.69
+     ],
+     [
+      -0.45,
+      1.59
+     ],
+     [
+      -0.55,
+      1.49
+     ],
+     [
+      -0.65,
+      1.49
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334107.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334107.json
new file mode 100644
index 0000000000000000000000000000000000000000..7badb27e833f12e7f4c5e16a7e885b182c0450cc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334107.json	
@@ -0,0 +1,624 @@
+{
+ "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": [
+      -0.45,
+      0.75,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.52,
+      0.42
+     ],
+     "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": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.3,
+      -0.22,
+      -0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.12,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.32,
+       0.0
+      ],
+      [
+       -0.32,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.59,
+      -0.4,
+      -0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.13,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.4,
+       0.0
+      ],
+      [
+       -0.4,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.75,
+      -0.1,
+      -0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      1.88,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      -1.2,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.26,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.04,
+      -1.34,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.07,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -6.02,
+      -0.81
+     ],
+     [
+      -5.52,
+      -0.81
+     ],
+     [
+      -5.42,
+      -0.71
+     ],
+     [
+      -5.32,
+      -0.71
+     ],
+     [
+      -5.22,
+      -0.61
+     ],
+     [
+      -5.12,
+      -0.61
+     ],
+     [
+      -4.92,
+      -0.41
+     ],
+     [
+      -4.62,
+      -0.41
+     ],
+     [
+      -4.42,
+      -0.61
+     ],
+     [
+      -4.42,
+      -0.91
+     ],
+     [
+      -4.32,
+      -1.01
+     ],
+     [
+      -4.32,
+      -1.11
+     ],
+     [
+      -4.12,
+      -1.11
+     ],
+     [
+      -4.02,
+      -1.21
+     ],
+     [
+      -4.02,
+      -2.01
+     ],
+     [
+      -3.22,
+      -2.01
+     ],
+     [
+      -3.22,
+      -1.91
+     ],
+     [
+      -3.12,
+      -1.81
+     ],
+     [
+      -2.82,
+      -1.81
+     ],
+     [
+      -2.72,
+      -1.71
+     ],
+     [
+      -2.62,
+      -1.71
+     ],
+     [
+      -2.52,
+      -1.61
+     ],
+     [
+      -2.22,
+      -1.61
+     ],
+     [
+      -2.02,
+      -1.41
+     ],
+     [
+      -1.82,
+      -1.41
+     ],
+     [
+      -1.72,
+      -1.31
+     ],
+     [
+      -1.22,
+      -1.31
+     ],
+     [
+      -1.12,
+      -1.41
+     ],
+     [
+      -1.12,
+      -1.61
+     ],
+     [
+      -1.02,
+      -1.71
+     ],
+     [
+      -1.02,
+      -2.01
+     ],
+     [
+      0.98,
+      -2.01
+     ],
+     [
+      0.98,
+      -1.91
+     ],
+     [
+      1.08,
+      -1.81
+     ],
+     [
+      1.08,
+      -1.71
+     ],
+     [
+      1.18,
+      -1.61
+     ],
+     [
+      1.28,
+      -1.61
+     ],
+     [
+      1.28,
+      -0.51
+     ],
+     [
+      1.38,
+      -0.41
+     ],
+     [
+      1.48,
+      -0.41
+     ],
+     [
+      1.68,
+      -0.21
+     ],
+     [
+      1.78,
+      -0.21
+     ],
+     [
+      1.88,
+      -0.11
+     ],
+     [
+      1.98,
+      -0.11
+     ],
+     [
+      1.98,
+      0.59
+     ],
+     [
+      1.48,
+      0.59
+     ],
+     [
+      1.18,
+      0.29
+     ],
+     [
+      0.98,
+      0.29
+     ],
+     [
+      0.88,
+      0.39
+     ],
+     [
+      0.88,
+      0.79
+     ],
+     [
+      0.78,
+      0.89
+     ],
+     [
+      0.78,
+      1.19
+     ],
+     [
+      0.68,
+      1.29
+     ],
+     [
+      0.68,
+      1.49
+     ],
+     [
+      -0.52,
+      1.49
+     ],
+     [
+      -0.52,
+      1.39
+     ],
+     [
+      -0.62,
+      1.29
+     ],
+     [
+      -0.92,
+      1.29
+     ],
+     [
+      -1.02,
+      1.19
+     ],
+     [
+      -1.22,
+      1.19
+     ],
+     [
+      -1.32,
+      1.09
+     ],
+     [
+      -1.52,
+      1.09
+     ],
+     [
+      -1.62,
+      0.99
+     ],
+     [
+      -1.62,
+      0.59
+     ],
+     [
+      -1.72,
+      0.49
+     ],
+     [
+      -1.92,
+      0.49
+     ],
+     [
+      -2.02,
+      0.59
+     ],
+     [
+      -2.22,
+      0.59
+     ],
+     [
+      -2.32,
+      0.69
+     ],
+     [
+      -3.12,
+      0.69
+     ],
+     [
+      -3.22,
+      0.59
+     ],
+     [
+      -3.42,
+      0.59
+     ],
+     [
+      -3.52,
+      0.49
+     ],
+     [
+      -3.82,
+      0.49
+     ],
+     [
+      -3.92,
+      0.39
+     ],
+     [
+      -4.12,
+      0.39
+     ],
+     [
+      -4.42,
+      0.09
+     ],
+     [
+      -4.52,
+      0.09
+     ],
+     [
+      -4.62,
+      -0.01
+     ],
+     [
+      -6.02,
+      -0.01
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334117.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334117.json
new file mode 100644
index 0000000000000000000000000000000000000000..90879a2a7835eb5cc7691a35dba596bf823d3976
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334117.json	
@@ -0,0 +1,502 @@
+{
+ "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": [
+      -2.06,
+      -0.8,
+      1.36
+     ],
+     "3D oriented bounding box dimensions": [
+      2.15,
+      0.41,
+      0.93
+     ],
+     "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": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.2,
+      1.46,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      1.75,
+      1.01,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.16,
+       0.0
+      ],
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.42,
+      0.23,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.12,
+      0.62
+     ],
+     "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": 4.83
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.2,
+      2.91,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.48,
+      1.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      2.39,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.91,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      0.27,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      2.22,
+      0.92,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.8,
+      -1.27
+     ],
+     [
+      -0.7,
+      -1.27
+     ],
+     [
+      -0.7,
+      -1.17
+     ],
+     [
+      -0.6,
+      -1.07
+     ],
+     [
+      0.3,
+      -1.07
+     ],
+     [
+      0.4,
+      -0.97
+     ],
+     [
+      0.4,
+      -0.87
+     ],
+     [
+      0.5,
+      -0.77
+     ],
+     [
+      0.7,
+      -0.77
+     ],
+     [
+      0.8,
+      -0.87
+     ],
+     [
+      0.8,
+      -0.97
+     ],
+     [
+      0.9,
+      -0.97
+     ],
+     [
+      1.1,
+      -1.17
+     ],
+     [
+      1.1,
+      -1.27
+     ],
+     [
+      3.4,
+      -1.27
+     ],
+     [
+      3.4,
+      -0.27
+     ],
+     [
+      3.3,
+      -0.27
+     ],
+     [
+      3.1,
+      -0.07
+     ],
+     [
+      3.1,
+      0.03
+     ],
+     [
+      3.0,
+      0.13
+     ],
+     [
+      2.9,
+      0.13
+     ],
+     [
+      2.6,
+      0.43
+     ],
+     [
+      2.6,
+      0.63
+     ],
+     [
+      1.7,
+      0.63
+     ],
+     [
+      1.6,
+      0.73
+     ],
+     [
+      1.6,
+      0.83
+     ],
+     [
+      1.5,
+      0.93
+     ],
+     [
+      1.5,
+      1.23
+     ],
+     [
+      1.4,
+      1.33
+     ],
+     [
+      1.4,
+      1.43
+     ],
+     [
+      1.1,
+      1.43
+     ],
+     [
+      1.0,
+      1.53
+     ],
+     [
+      1.0,
+      1.73
+     ],
+     [
+      1.1,
+      1.83
+     ],
+     [
+      1.2,
+      1.83
+     ],
+     [
+      1.3,
+      1.93
+     ],
+     [
+      1.4,
+      1.93
+     ],
+     [
+      1.5,
+      2.03
+     ],
+     [
+      1.6,
+      2.03
+     ],
+     [
+      1.8,
+      2.23
+     ],
+     [
+      1.9,
+      2.23
+     ],
+     [
+      1.9,
+      2.63
+     ],
+     [
+      1.5,
+      3.03
+     ],
+     [
+      1.2,
+      3.03
+     ],
+     [
+      1.1,
+      3.13
+     ],
+     [
+      1.1,
+      3.33
+     ],
+     [
+      -3.4,
+      3.33
+     ],
+     [
+      -3.4,
+      3.23
+     ],
+     [
+      -3.5,
+      3.13
+     ],
+     [
+      -3.8,
+      3.13
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334238.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b496378b3658f649c200972f7fb8785aec43c1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334238.json	
@@ -0,0 +1,536 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.33,
+      1.33,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.48,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.46,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.16,
+      0.29,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.41,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      0.67,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.48,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      -0.55,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.5,
+      0.92
+     ],
+     "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": 4.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.85,
+      -0.61,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.18,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.53,
+      0.99,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      1.07,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       -0.53,
+       0.0
+      ],
+      [
+       0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.37,
+      -0.94
+     ],
+     [
+      -3.17,
+      -0.94
+     ],
+     [
+      -2.67,
+      -1.44
+     ],
+     [
+      -2.57,
+      -1.44
+     ],
+     [
+      -1.87,
+      -2.14
+     ],
+     [
+      -1.57,
+      -2.14
+     ],
+     [
+      -1.47,
+      -2.24
+     ],
+     [
+      -1.47,
+      -2.44
+     ],
+     [
+      -0.27,
+      -2.44
+     ],
+     [
+      -0.27,
+      -2.34
+     ],
+     [
+      -0.17,
+      -2.24
+     ],
+     [
+      -0.17,
+      -2.14
+     ],
+     [
+      0.03,
+      -1.94
+     ],
+     [
+      0.13,
+      -1.94
+     ],
+     [
+      0.23,
+      -1.84
+     ],
+     [
+      0.23,
+      -1.74
+     ],
+     [
+      0.33,
+      -1.64
+     ],
+     [
+      0.63,
+      -1.64
+     ],
+     [
+      0.83,
+      -1.44
+     ],
+     [
+      0.83,
+      -1.34
+     ],
+     [
+      1.13,
+      -1.04
+     ],
+     [
+      1.23,
+      -1.04
+     ],
+     [
+      1.33,
+      -0.94
+     ],
+     [
+      1.33,
+      -0.84
+     ],
+     [
+      2.03,
+      -0.14
+     ],
+     [
+      2.03,
+      -0.04
+     ],
+     [
+      2.13,
+      0.06
+     ],
+     [
+      2.13,
+      0.16
+     ],
+     [
+      2.33,
+      0.36
+     ],
+     [
+      2.53,
+      0.36
+     ],
+     [
+      2.53,
+      1.76
+     ],
+     [
+      2.43,
+      1.76
+     ],
+     [
+      2.23,
+      1.96
+     ],
+     [
+      1.53,
+      1.96
+     ],
+     [
+      1.23,
+      2.26
+     ],
+     [
+      1.23,
+      2.76
+     ],
+     [
+      0.73,
+      3.26
+     ],
+     [
+      0.63,
+      3.26
+     ],
+     [
+      0.43,
+      3.46
+     ],
+     [
+      0.43,
+      3.56
+     ],
+     [
+      -0.57,
+      3.56
+     ],
+     [
+      -0.57,
+      3.46
+     ],
+     [
+      -0.77,
+      3.26
+     ],
+     [
+      -0.77,
+      3.16
+     ],
+     [
+      -1.17,
+      2.76
+     ],
+     [
+      -1.17,
+      2.16
+     ],
+     [
+      -1.27,
+      2.06
+     ],
+     [
+      -2.47,
+      2.06
+     ],
+     [
+      -2.57,
+      1.96
+     ],
+     [
+      -2.77,
+      1.96
+     ],
+     [
+      -2.87,
+      1.86
+     ],
+     [
+      -2.87,
+      1.36
+     ],
+     [
+      -2.77,
+      1.36
+     ],
+     [
+      -2.67,
+      1.26
+     ],
+     [
+      -2.67,
+      0.96
+     ],
+     [
+      -3.17,
+      0.46
+     ],
+     [
+      -3.17,
+      0.36
+     ],
+     [
+      -3.27,
+      0.26
+     ],
+     [
+      -3.37,
+      0.26
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334239.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334239.json
new file mode 100644
index 0000000000000000000000000000000000000000..a295b482c93fc6cd8853bae7daa1a86243037aa6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334239.json	
@@ -0,0 +1,454 @@
+{
+ "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": [
+      1.23,
+      0.69,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      0.64,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.25,
+      1.44,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.84,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      -1.62,
+      -0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.26,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.44,
+       0.0
+      ],
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      0.29,
+      -0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.53,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.17,
+       0.0
+      ],
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      -0.34,
+      -0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.25,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.17,
+      -0.88
+     ],
+     [
+      -0.97,
+      -0.88
+     ],
+     [
+      -0.77,
+      -1.08
+     ],
+     [
+      -0.77,
+      -1.18
+     ],
+     [
+      -0.67,
+      -1.28
+     ],
+     [
+      -0.37,
+      -1.28
+     ],
+     [
+      -0.27,
+      -1.38
+     ],
+     [
+      0.33,
+      -1.38
+     ],
+     [
+      0.43,
+      -1.48
+     ],
+     [
+      0.43,
+      -1.78
+     ],
+     [
+      0.33,
+      -1.88
+     ],
+     [
+      0.23,
+      -1.88
+     ],
+     [
+      0.23,
+      -2.28
+     ],
+     [
+      1.63,
+      -2.28
+     ],
+     [
+      1.63,
+      -2.18
+     ],
+     [
+      1.73,
+      -2.08
+     ],
+     [
+      2.23,
+      -2.08
+     ],
+     [
+      2.23,
+      -0.68
+     ],
+     [
+      2.13,
+      -0.68
+     ],
+     [
+      1.93,
+      -0.48
+     ],
+     [
+      1.93,
+      -0.38
+     ],
+     [
+      1.83,
+      -0.28
+     ],
+     [
+      1.83,
+      -0.08
+     ],
+     [
+      1.93,
+      0.02
+     ],
+     [
+      1.93,
+      0.52
+     ],
+     [
+      1.83,
+      0.62
+     ],
+     [
+      1.83,
+      0.82
+     ],
+     [
+      1.63,
+      1.02
+     ],
+     [
+      1.63,
+      1.12
+     ],
+     [
+      1.53,
+      1.22
+     ],
+     [
+      1.53,
+      1.32
+     ],
+     [
+      1.23,
+      1.62
+     ],
+     [
+      1.23,
+      1.72
+     ],
+     [
+      1.13,
+      1.82
+     ],
+     [
+      1.13,
+      1.92
+     ],
+     [
+      -0.27,
+      1.92
+     ],
+     [
+      -0.27,
+      1.82
+     ],
+     [
+      -0.37,
+      1.72
+     ],
+     [
+      -0.47,
+      1.72
+     ],
+     [
+      -0.47,
+      1.62
+     ],
+     [
+      -0.57,
+      1.52
+     ],
+     [
+      -0.57,
+      1.12
+     ],
+     [
+      -0.77,
+      0.92
+     ],
+     [
+      -0.87,
+      0.92
+     ],
+     [
+      -1.07,
+      0.72
+     ],
+     [
+      -1.17,
+      0.72
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334254.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334254.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d8b8a23bf04b9468863345712acec06eb09cce5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334254.json	
@@ -0,0 +1,558 @@
+{
+ "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": [
+      -1.37,
+      -0.55,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.54,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.74,
+      -0.9,
+      -0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.23,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.91,
+      0.02,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.1,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.38,
+      -1.58,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.7,
+      0.29
+     ],
+     "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": 4.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.22,
+      -0.47,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      0.57,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.84,
+      -2.27,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.4,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.99,
+      -2.28
+     ],
+     [
+      -2.89,
+      -2.28
+     ],
+     [
+      -2.79,
+      -2.38
+     ],
+     [
+      -2.79,
+      -2.58
+     ],
+     [
+      -2.59,
+      -2.78
+     ],
+     [
+      -2.59,
+      -2.88
+     ],
+     [
+      -2.49,
+      -2.98
+     ],
+     [
+      -2.49,
+      -3.08
+     ],
+     [
+      -2.39,
+      -3.08
+     ],
+     [
+      -2.19,
+      -3.28
+     ],
+     [
+      -2.19,
+      -3.58
+     ],
+     [
+      -0.99,
+      -3.58
+     ],
+     [
+      -0.99,
+      -3.48
+     ],
+     [
+      -0.79,
+      -3.28
+     ],
+     [
+      -0.69,
+      -3.28
+     ],
+     [
+      -0.59,
+      -3.18
+     ],
+     [
+      -0.49,
+      -3.18
+     ],
+     [
+      -0.39,
+      -3.08
+     ],
+     [
+      -0.29,
+      -3.08
+     ],
+     [
+      -0.09,
+      -2.88
+     ],
+     [
+      0.01,
+      -2.88
+     ],
+     [
+      0.11,
+      -2.78
+     ],
+     [
+      0.21,
+      -2.78
+     ],
+     [
+      0.41,
+      -2.58
+     ],
+     [
+      0.51,
+      -2.58
+     ],
+     [
+      0.61,
+      -2.48
+     ],
+     [
+      0.71,
+      -2.48
+     ],
+     [
+      0.81,
+      -2.38
+     ],
+     [
+      0.81,
+      -1.78
+     ],
+     [
+      0.91,
+      -1.68
+     ],
+     [
+      1.01,
+      -1.68
+     ],
+     [
+      1.01,
+      -1.28
+     ],
+     [
+      0.81,
+      -1.28
+     ],
+     [
+      0.61,
+      -1.08
+     ],
+     [
+      0.51,
+      -1.08
+     ],
+     [
+      0.41,
+      -0.98
+     ],
+     [
+      0.41,
+      -0.78
+     ],
+     [
+      0.61,
+      -0.58
+     ],
+     [
+      0.61,
+      -0.38
+     ],
+     [
+      0.81,
+      -0.18
+     ],
+     [
+      1.01,
+      -0.18
+     ],
+     [
+      1.01,
+      0.92
+     ],
+     [
+      -0.29,
+      0.92
+     ],
+     [
+      -0.29,
+      0.82
+     ],
+     [
+      -0.39,
+      0.72
+     ],
+     [
+      -0.59,
+      0.72
+     ],
+     [
+      -0.69,
+      0.62
+     ],
+     [
+      -0.79,
+      0.62
+     ],
+     [
+      -0.99,
+      0.42
+     ],
+     [
+      -1.09,
+      0.42
+     ],
+     [
+      -1.29,
+      0.22
+     ],
+     [
+      -1.39,
+      0.22
+     ],
+     [
+      -1.49,
+      0.12
+     ],
+     [
+      -1.59,
+      0.12
+     ],
+     [
+      -1.79,
+      -0.08
+     ],
+     [
+      -1.89,
+      -0.08
+     ],
+     [
+      -1.99,
+      -0.18
+     ],
+     [
+      -2.09,
+      -0.18
+     ],
+     [
+      -2.19,
+      -0.28
+     ],
+     [
+      -2.29,
+      -0.28
+     ],
+     [
+      -2.59,
+      -0.58
+     ],
+     [
+      -2.69,
+      -0.58
+     ],
+     [
+      -2.79,
+      -0.68
+     ],
+     [
+      -2.99,
+      -0.68
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334362.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ec1fa5c0acc4ea2ec26e386e78c10bfb936d185
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334362.json	
@@ -0,0 +1,820 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      -1.01,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      1.32,
+      0.45,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.52,
+       0.0
+      ],
+      [
+       0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      -2.07,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      0.75,
+      0.32
+     ],
+     "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": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -0.93,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      1.34,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.59,
+      -2.66,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      2.01,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.89,
+      -1.38,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.47,
+      0.46,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.44,
+      -1.96,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      0.26,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      -0.02,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.91,
+      0.02
+     ],
+     "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": 1.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      -3.71,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.02,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.36,
+       0.0
+      ],
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.43,
+      -0.99
+     ],
+     [
+      -2.23,
+      -0.99
+     ],
+     [
+      -2.13,
+      -1.09
+     ],
+     [
+      -1.73,
+      -1.09
+     ],
+     [
+      -1.63,
+      -1.19
+     ],
+     [
+      -0.83,
+      -1.19
+     ],
+     [
+      -0.73,
+      -1.29
+     ],
+     [
+      -0.53,
+      -1.29
+     ],
+     [
+      -0.43,
+      -1.39
+     ],
+     [
+      -0.43,
+      -1.69
+     ],
+     [
+      -0.53,
+      -1.79
+     ],
+     [
+      -0.53,
+      -1.99
+     ],
+     [
+      -0.63,
+      -2.09
+     ],
+     [
+      -0.63,
+      -2.19
+     ],
+     [
+      -0.73,
+      -2.29
+     ],
+     [
+      -0.73,
+      -2.39
+     ],
+     [
+      -0.83,
+      -2.49
+     ],
+     [
+      -0.83,
+      -2.59
+     ],
+     [
+      -0.93,
+      -2.69
+     ],
+     [
+      -0.93,
+      -3.19
+     ],
+     [
+      -0.83,
+      -3.29
+     ],
+     [
+      -0.83,
+      -3.59
+     ],
+     [
+      -0.73,
+      -3.59
+     ],
+     [
+      -0.63,
+      -3.69
+     ],
+     [
+      -0.53,
+      -3.69
+     ],
+     [
+      -0.43,
+      -3.79
+     ],
+     [
+      -0.33,
+      -3.79
+     ],
+     [
+      -0.23,
+      -3.89
+     ],
+     [
+      0.27,
+      -3.89
+     ],
+     [
+      0.37,
+      -3.99
+     ],
+     [
+      0.57,
+      -3.99
+     ],
+     [
+      0.77,
+      -4.19
+     ],
+     [
+      1.07,
+      -4.19
+     ],
+     [
+      1.17,
+      -4.29
+     ],
+     [
+      1.17,
+      -4.69
+     ],
+     [
+      2.97,
+      -4.69
+     ],
+     [
+      2.97,
+      -4.39
+     ],
+     [
+      3.07,
+      -4.29
+     ],
+     [
+      3.07,
+      -3.99
+     ],
+     [
+      3.17,
+      -3.89
+     ],
+     [
+      3.17,
+      -3.59
+     ],
+     [
+      3.27,
+      -3.49
+     ],
+     [
+      3.27,
+      -3.39
+     ],
+     [
+      3.37,
+      -3.29
+     ],
+     [
+      3.37,
+      -3.19
+     ],
+     [
+      3.47,
+      -3.09
+     ],
+     [
+      3.47,
+      -2.99
+     ],
+     [
+      3.57,
+      -2.89
+     ],
+     [
+      3.57,
+      -2.79
+     ],
+     [
+      3.67,
+      -2.69
+     ],
+     [
+      3.67,
+      -2.59
+     ],
+     [
+      3.77,
+      -2.49
+     ],
+     [
+      3.77,
+      -2.39
+     ],
+     [
+      3.87,
+      -2.29
+     ],
+     [
+      3.87,
+      -2.19
+     ],
+     [
+      4.07,
+      -1.99
+     ],
+     [
+      4.07,
+      -1.89
+     ],
+     [
+      4.17,
+      -1.79
+     ],
+     [
+      4.17,
+      -1.69
+     ],
+     [
+      4.27,
+      -1.59
+     ],
+     [
+      4.37,
+      -1.59
+     ],
+     [
+      4.37,
+      -0.39
+     ],
+     [
+      4.17,
+      -0.39
+     ],
+     [
+      4.07,
+      -0.29
+     ],
+     [
+      3.97,
+      -0.29
+     ],
+     [
+      3.87,
+      -0.19
+     ],
+     [
+      3.77,
+      -0.19
+     ],
+     [
+      3.67,
+      -0.09
+     ],
+     [
+      3.47,
+      -0.09
+     ],
+     [
+      3.37,
+      0.01
+     ],
+     [
+      3.27,
+      0.01
+     ],
+     [
+      3.17,
+      0.11
+     ],
+     [
+      3.07,
+      0.11
+     ],
+     [
+      2.97,
+      0.21
+     ],
+     [
+      2.87,
+      0.21
+     ],
+     [
+      2.77,
+      0.31
+     ],
+     [
+      2.67,
+      0.31
+     ],
+     [
+      2.57,
+      0.41
+     ],
+     [
+      2.47,
+      0.41
+     ],
+     [
+      2.37,
+      0.51
+     ],
+     [
+      2.17,
+      0.51
+     ],
+     [
+      2.07,
+      0.61
+     ],
+     [
+      1.57,
+      0.61
+     ],
+     [
+      1.37,
+      0.41
+     ],
+     [
+      1.17,
+      0.41
+     ],
+     [
+      1.07,
+      0.51
+     ],
+     [
+      1.07,
+      0.61
+     ],
+     [
+      0.97,
+      0.61
+     ],
+     [
+      0.77,
+      0.81
+     ],
+     [
+      0.07,
+      0.81
+     ],
+     [
+      -0.03,
+      0.91
+     ],
+     [
+      -0.03,
+      1.01
+     ],
+     [
+      -0.13,
+      1.01
+     ],
+     [
+      -0.23,
+      1.11
+     ],
+     [
+      -0.23,
+      1.41
+     ],
+     [
+      -0.93,
+      1.41
+     ],
+     [
+      -0.93,
+      1.31
+     ],
+     [
+      -1.03,
+      1.21
+     ],
+     [
+      -1.03,
+      1.11
+     ],
+     [
+      -1.13,
+      1.01
+     ],
+     [
+      -1.13,
+      0.91
+     ],
+     [
+      -1.43,
+      0.61
+     ],
+     [
+      -1.43,
+      0.51
+     ],
+     [
+      -1.53,
+      0.41
+     ],
+     [
+      -1.53,
+      -0.09
+     ],
+     [
+      -0.93,
+      -0.09
+     ],
+     [
+      -0.83,
+      -0.19
+     ],
+     [
+      -0.83,
+      -0.59
+     ],
+     [
+      -0.93,
+      -0.69
+     ],
+     [
+      -1.13,
+      -0.69
+     ],
+     [
+      -1.23,
+      -0.59
+     ],
+     [
+      -1.23,
+      -0.29
+     ],
+     [
+      -2.43,
+      -0.29
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334372.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334372.json
new file mode 100644
index 0000000000000000000000000000000000000000..443fb4b5e2ca23ad608943ad354ff9026c7c468e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334372.json	
@@ -0,0 +1,256 @@
+{
+ "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": [
+      -0.82,
+      -0.13,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.44,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      0.81,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.63,
+      0.85
+     ],
+     "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": 4.5
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.65,
+      -0.38,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.08,
+      0.64
+     ],
+     "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": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.12,
+      -1.08
+     ],
+     [
+      1.28,
+      -1.08
+     ],
+     [
+      1.28,
+      1.72
+     ],
+     [
+      0.98,
+      1.72
+     ],
+     [
+      0.78,
+      1.92
+     ],
+     [
+      0.38,
+      1.92
+     ],
+     [
+      0.28,
+      1.82
+     ],
+     [
+      0.28,
+      1.62
+     ],
+     [
+      0.08,
+      1.42
+     ],
+     [
+      -0.02,
+      1.42
+     ],
+     [
+      -0.02,
+      0.82
+     ],
+     [
+      -0.22,
+      0.62
+     ],
+     [
+      -1.12,
+      0.62
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334380.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334380.json
new file mode 100644
index 0000000000000000000000000000000000000000..08cba6c5187242c8b03eb3b08bbbd577ed330bb2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47334380.json	
@@ -0,0 +1,534 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      -1.3,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.36,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.31,
+      -1.96,
+      -0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.21,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       -0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      -1.07,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.15,
+      0.5
+     ],
+     "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": 0.17
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      -2.18,
+      -0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.13,
+      1.12
+     ],
+     "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": 1.67
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      -0.2,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.17,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      -0.16,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.33,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.62,
+      -1.1,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.33,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.14,
+      -3.06
+     ],
+     [
+      -2.04,
+      -3.06
+     ],
+     [
+      -1.94,
+      -3.16
+     ],
+     [
+      -1.84,
+      -3.16
+     ],
+     [
+      -1.64,
+      -3.36
+     ],
+     [
+      -1.64,
+      -3.46
+     ],
+     [
+      0.36,
+      -3.46
+     ],
+     [
+      0.36,
+      -3.06
+     ],
+     [
+      0.46,
+      -2.96
+     ],
+     [
+      0.46,
+      -2.86
+     ],
+     [
+      0.56,
+      -2.76
+     ],
+     [
+      0.56,
+      -2.16
+     ],
+     [
+      0.86,
+      -1.86
+     ],
+     [
+      1.06,
+      -1.86
+     ],
+     [
+      1.16,
+      -1.76
+     ],
+     [
+      1.16,
+      -1.56
+     ],
+     [
+      1.26,
+      -1.46
+     ],
+     [
+      1.26,
+      -1.36
+     ],
+     [
+      1.36,
+      -1.26
+     ],
+     [
+      1.46,
+      -1.26
+     ],
+     [
+      1.46,
+      0.84
+     ],
+     [
+      1.36,
+      0.84
+     ],
+     [
+      1.26,
+      0.94
+     ],
+     [
+      1.06,
+      0.94
+     ],
+     [
+      0.96,
+      1.04
+     ],
+     [
+      0.96,
+      1.84
+     ],
+     [
+      -0.34,
+      1.84
+     ],
+     [
+      -0.34,
+      1.44
+     ],
+     [
+      -0.44,
+      1.34
+     ],
+     [
+      -0.54,
+      1.34
+     ],
+     [
+      -0.64,
+      1.24
+     ],
+     [
+      -0.74,
+      1.24
+     ],
+     [
+      -1.14,
+      0.84
+     ],
+     [
+      -1.14,
+      0.54
+     ],
+     [
+      -1.34,
+      0.34
+     ],
+     [
+      -1.34,
+      0.14
+     ],
+     [
+      -1.44,
+      0.04
+     ],
+     [
+      -1.44,
+      -0.16
+     ],
+     [
+      -1.54,
+      -0.26
+     ],
+     [
+      -1.54,
+      -0.36
+     ],
+     [
+      -1.64,
+      -0.46
+     ],
+     [
+      -1.64,
+      -0.56
+     ],
+     [
+      -1.74,
+      -0.66
+     ],
+     [
+      -1.74,
+      -0.86
+     ],
+     [
+      -1.84,
+      -0.96
+     ],
+     [
+      -1.84,
+      -1.16
+     ],
+     [
+      -1.94,
+      -1.26
+     ],
+     [
+      -1.94,
+      -1.36
+     ],
+     [
+      -2.04,
+      -1.46
+     ],
+     [
+      -2.14,
+      -1.46
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429904.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429904.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e7bc6d5f606980d8259a589d83e4ff491196267
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429904.json	
@@ -0,0 +1,662 @@
+{
+ "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": [
+      -2.18,
+      -1.96,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.28,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.98,
+      -0.77,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.21,
+      0.82
+     ],
+     "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": 0.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.84,
+      -1.05,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.32,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.53,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       0.53,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.84,
+      0.0,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      1.01,
+      0.28
+     ],
+     "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": 2.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.78,
+      0.36,
+      -0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.34,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.55,
+      -1.79,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      0.28,
+      0.28
+     ],
+     "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": 2.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.48,
+      -2.35
+     ],
+     [
+      -4.78,
+      -2.35
+     ],
+     [
+      -4.68,
+      -2.25
+     ],
+     [
+      -4.28,
+      -2.25
+     ],
+     [
+      -4.18,
+      -2.35
+     ],
+     [
+      -4.18,
+      -2.45
+     ],
+     [
+      -3.78,
+      -2.45
+     ],
+     [
+      -3.68,
+      -2.55
+     ],
+     [
+      -3.28,
+      -2.55
+     ],
+     [
+      -3.18,
+      -2.65
+     ],
+     [
+      -3.18,
+      -3.15
+     ],
+     [
+      -3.08,
+      -3.25
+     ],
+     [
+      -3.08,
+      -3.95
+     ],
+     [
+      -2.98,
+      -4.05
+     ],
+     [
+      -2.78,
+      -4.05
+     ],
+     [
+      -2.68,
+      -4.15
+     ],
+     [
+      -1.88,
+      -4.15
+     ],
+     [
+      -1.78,
+      -4.25
+     ],
+     [
+      -1.78,
+      -4.35
+     ],
+     [
+      0.02,
+      -4.35
+     ],
+     [
+      0.02,
+      -4.05
+     ],
+     [
+      0.12,
+      -3.95
+     ],
+     [
+      1.22,
+      -3.95
+     ],
+     [
+      1.32,
+      -3.85
+     ],
+     [
+      1.42,
+      -3.85
+     ],
+     [
+      1.62,
+      -3.65
+     ],
+     [
+      1.72,
+      -3.65
+     ],
+     [
+      1.72,
+      -3.05
+     ],
+     [
+      1.22,
+      -3.05
+     ],
+     [
+      1.12,
+      -3.15
+     ],
+     [
+      0.82,
+      -3.15
+     ],
+     [
+      0.72,
+      -3.05
+     ],
+     [
+      0.72,
+      -2.85
+     ],
+     [
+      0.62,
+      -2.75
+     ],
+     [
+      0.62,
+      -2.35
+     ],
+     [
+      0.82,
+      -2.15
+     ],
+     [
+      0.82,
+      -1.85
+     ],
+     [
+      0.92,
+      -1.75
+     ],
+     [
+      0.92,
+      -1.45
+     ],
+     [
+      1.12,
+      -1.25
+     ],
+     [
+      1.12,
+      -1.05
+     ],
+     [
+      1.22,
+      -0.95
+     ],
+     [
+      1.72,
+      -0.95
+     ],
+     [
+      1.72,
+      0.45
+     ],
+     [
+      1.42,
+      0.45
+     ],
+     [
+      1.32,
+      0.55
+     ],
+     [
+      0.72,
+      0.55
+     ],
+     [
+      0.62,
+      0.65
+     ],
+     [
+      0.62,
+      1.05
+     ],
+     [
+      0.32,
+      1.05
+     ],
+     [
+      0.22,
+      1.15
+     ],
+     [
+      0.22,
+      1.55
+     ],
+     [
+      -1.28,
+      1.55
+     ],
+     [
+      -1.28,
+      1.05
+     ],
+     [
+      -1.18,
+      0.95
+     ],
+     [
+      -1.18,
+      0.45
+     ],
+     [
+      -1.08,
+      0.35
+     ],
+     [
+      -1.08,
+      -0.25
+     ],
+     [
+      -0.98,
+      -0.25
+     ],
+     [
+      -0.88,
+      -0.35
+     ],
+     [
+      -0.48,
+      -0.35
+     ],
+     [
+      -0.38,
+      -0.45
+     ],
+     [
+      -0.38,
+      -0.65
+     ],
+     [
+      -0.48,
+      -0.75
+     ],
+     [
+      -0.78,
+      -0.75
+     ],
+     [
+      -0.88,
+      -0.85
+     ],
+     [
+      -1.18,
+      -0.85
+     ],
+     [
+      -1.28,
+      -0.75
+     ],
+     [
+      -1.28,
+      0.05
+     ],
+     [
+      -1.48,
+      0.05
+     ],
+     [
+      -1.68,
+      0.25
+     ],
+     [
+      -2.28,
+      0.25
+     ],
+     [
+      -2.38,
+      0.35
+     ],
+     [
+      -2.38,
+      0.85
+     ],
+     [
+      -2.48,
+      0.85
+     ],
+     [
+      -2.58,
+      0.95
+     ],
+     [
+      -2.58,
+      1.25
+     ],
+     [
+      -2.98,
+      1.25
+     ],
+     [
+      -3.08,
+      1.15
+     ],
+     [
+      -3.48,
+      1.15
+     ],
+     [
+      -3.58,
+      1.05
+     ],
+     [
+      -3.88,
+      1.05
+     ],
+     [
+      -3.98,
+      1.15
+     ],
+     [
+      -3.98,
+      1.25
+     ],
+     [
+      -4.78,
+      1.25
+     ],
+     [
+      -4.78,
+      0.75
+     ],
+     [
+      -4.98,
+      0.55
+     ],
+     [
+      -4.98,
+      0.35
+     ],
+     [
+      -5.08,
+      0.25
+     ],
+     [
+      -5.48,
+      0.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429912.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429912.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd8e63695ccdf353614bfa7a88a28f7607ea5ff
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429912.json	
@@ -0,0 +1,396 @@
+{
+ "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": [
+      -2.48,
+      2.66,
+      -2.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      1.19,
+      0.47
+     ],
+     "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": 2.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      0.91,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      1.33,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.0,
+      2.15,
+      -2.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.37,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.29,
+       0.0
+      ],
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.46,
+      1.39
+     ],
+     [
+      -3.36,
+      1.39
+     ],
+     [
+      -3.06,
+      1.09
+     ],
+     [
+      -3.06,
+      0.99
+     ],
+     [
+      -2.66,
+      0.59
+     ],
+     [
+      -2.66,
+      0.49
+     ],
+     [
+      -2.46,
+      0.29
+     ],
+     [
+      -2.46,
+      0.19
+     ],
+     [
+      -2.36,
+      0.09
+     ],
+     [
+      -2.06,
+      0.09
+     ],
+     [
+      -1.86,
+      -0.11
+     ],
+     [
+      -1.86,
+      -0.21
+     ],
+     [
+      -1.66,
+      -0.21
+     ],
+     [
+      -1.56,
+      -0.31
+     ],
+     [
+      -0.96,
+      -0.31
+     ],
+     [
+      -0.86,
+      -0.41
+     ],
+     [
+      -0.86,
+      -0.51
+     ],
+     [
+      0.04,
+      -0.51
+     ],
+     [
+      0.04,
+      -0.41
+     ],
+     [
+      0.14,
+      -0.31
+     ],
+     [
+      0.14,
+      -0.21
+     ],
+     [
+      0.24,
+      -0.11
+     ],
+     [
+      0.64,
+      -0.11
+     ],
+     [
+      0.64,
+      1.09
+     ],
+     [
+      0.34,
+      1.09
+     ],
+     [
+      0.14,
+      1.29
+     ],
+     [
+      0.14,
+      1.39
+     ],
+     [
+      0.04,
+      1.49
+     ],
+     [
+      0.04,
+      1.59
+     ],
+     [
+      -0.06,
+      1.69
+     ],
+     [
+      -0.06,
+      1.79
+     ],
+     [
+      -0.16,
+      1.89
+     ],
+     [
+      -0.16,
+      2.49
+     ],
+     [
+      -0.46,
+      2.79
+     ],
+     [
+      -0.46,
+      2.89
+     ],
+     [
+      -0.56,
+      2.99
+     ],
+     [
+      -0.96,
+      2.99
+     ],
+     [
+      -1.16,
+      3.19
+     ],
+     [
+      -1.16,
+      3.29
+     ],
+     [
+      -1.26,
+      3.39
+     ],
+     [
+      -1.26,
+      3.49
+     ],
+     [
+      -2.66,
+      3.49
+     ],
+     [
+      -2.66,
+      3.39
+     ],
+     [
+      -2.76,
+      3.29
+     ],
+     [
+      -2.86,
+      3.29
+     ],
+     [
+      -2.86,
+      3.19
+     ],
+     [
+      -3.36,
+      2.69
+     ],
+     [
+      -3.46,
+      2.69
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429922.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429922.json
new file mode 100644
index 0000000000000000000000000000000000000000..52fb3259f6e50bebf41a268c66a992e689681562
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429922.json	
@@ -0,0 +1,690 @@
+{
+ "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": [
+      1.27,
+      0.08,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      2.12,
+      0.28
+     ],
+     "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": 1.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.37,
+      -0.01,
+      -0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.25,
+      0.52
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.33,
+      0.57,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.31,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       0.68,
+       0.0
+      ],
+      [
+       -0.68,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.6,
+      -0.43,
+      -0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.15,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.47,
+      -2.22,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.14,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      -1.53,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.1,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.65,
+       0.0
+      ],
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.71,
+      -0.82,
+      -0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.23,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.59,
+      0.73,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.19,
+      0.08
+     ],
+     "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": 3.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      -2.03,
+      -0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.13,
+      0.01
+     ],
+     "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": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.41,
+      -2.17,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.14,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.41,
+      -0.21,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.34,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.9,
+      -0.22,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.04,
+      0.35
+     ],
+     "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": 3.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.27,
+      -1.57
+     ],
+     [
+      -2.17,
+      -1.57
+     ],
+     [
+      -2.07,
+      -1.67
+     ],
+     [
+      -2.07,
+      -2.17
+     ],
+     [
+      -1.97,
+      -2.27
+     ],
+     [
+      -1.97,
+      -2.37
+     ],
+     [
+      -1.77,
+      -2.57
+     ],
+     [
+      -1.57,
+      -2.57
+     ],
+     [
+      -1.37,
+      -2.77
+     ],
+     [
+      -1.37,
+      -2.97
+     ],
+     [
+      0.03,
+      -2.97
+     ],
+     [
+      0.03,
+      -2.07
+     ],
+     [
+      0.13,
+      -1.97
+     ],
+     [
+      0.23,
+      -1.97
+     ],
+     [
+      0.33,
+      -1.87
+     ],
+     [
+      0.43,
+      -1.87
+     ],
+     [
+      0.53,
+      -1.77
+     ],
+     [
+      0.63,
+      -1.77
+     ],
+     [
+      0.93,
+      -1.47
+     ],
+     [
+      1.03,
+      -1.47
+     ],
+     [
+      1.63,
+      -0.87
+     ],
+     [
+      1.73,
+      -0.87
+     ],
+     [
+      1.73,
+      0.13
+     ],
+     [
+      1.63,
+      0.13
+     ],
+     [
+      1.43,
+      0.33
+     ],
+     [
+      1.43,
+      0.43
+     ],
+     [
+      1.33,
+      0.53
+     ],
+     [
+      1.33,
+      0.63
+     ],
+     [
+      1.03,
+      0.93
+     ],
+     [
+      1.03,
+      1.03
+     ],
+     [
+      0.73,
+      1.33
+     ],
+     [
+      0.63,
+      1.33
+     ],
+     [
+      0.53,
+      1.43
+     ],
+     [
+      0.53,
+      1.53
+     ],
+     [
+      0.33,
+      1.53
+     ],
+     [
+      0.03,
+      1.83
+     ],
+     [
+      0.03,
+      1.93
+     ],
+     [
+      -0.47,
+      1.93
+     ],
+     [
+      -0.47,
+      1.83
+     ],
+     [
+      -0.57,
+      1.73
+     ],
+     [
+      -1.17,
+      1.73
+     ],
+     [
+      -1.37,
+      1.53
+     ],
+     [
+      -1.37,
+      1.43
+     ],
+     [
+      -1.57,
+      1.23
+     ],
+     [
+      -1.67,
+      1.23
+     ],
+     [
+      -2.17,
+      0.73
+     ],
+     [
+      -2.27,
+      0.73
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429977.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429977.json
new file mode 100644
index 0000000000000000000000000000000000000000..72b5df0df88a95021b89824f48d0ab45cb37a56c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429977.json	
@@ -0,0 +1,654 @@
+{
+ "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": [
+      2.94,
+      -2.62,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.22,
+      0.59,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      -0.83,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.49,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.43,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.61,
+      -1.35,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.16,
+      0.12
+     ],
+     "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": 0.67
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      -2.71,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.11,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.75,
+      -2.83,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.72,
+      0.48
+     ],
+     "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": 3.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.08,
+      -3.25,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.28,
+      0.16
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      -3.31,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.13,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      -0.87,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.89,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.34,
+      -2.24,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.26,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.77,
+      -3.68
+     ],
+     [
+      -1.67,
+      -3.68
+     ],
+     [
+      -1.57,
+      -3.78
+     ],
+     [
+      -0.67,
+      -3.78
+     ],
+     [
+      -0.67,
+      -3.68
+     ],
+     [
+      -0.47,
+      -3.48
+     ],
+     [
+      -0.47,
+      -3.38
+     ],
+     [
+      -0.37,
+      -3.28
+     ],
+     [
+      -0.17,
+      -3.28
+     ],
+     [
+      -0.07,
+      -3.38
+     ],
+     [
+      -0.07,
+      -4.08
+     ],
+     [
+      0.43,
+      -4.08
+     ],
+     [
+      0.53,
+      -4.18
+     ],
+     [
+      0.53,
+      -4.58
+     ],
+     [
+      1.93,
+      -4.58
+     ],
+     [
+      1.93,
+      -4.18
+     ],
+     [
+      2.03,
+      -4.08
+     ],
+     [
+      2.43,
+      -4.08
+     ],
+     [
+      2.53,
+      -3.98
+     ],
+     [
+      3.13,
+      -3.98
+     ],
+     [
+      3.23,
+      -3.88
+     ],
+     [
+      3.23,
+      -3.58
+     ],
+     [
+      3.33,
+      -3.48
+     ],
+     [
+      3.43,
+      -3.48
+     ],
+     [
+      3.53,
+      -3.38
+     ],
+     [
+      4.43,
+      -3.38
+     ],
+     [
+      4.43,
+      -0.38
+     ],
+     [
+      4.03,
+      -0.38
+     ],
+     [
+      3.93,
+      -0.48
+     ],
+     [
+      3.23,
+      -0.48
+     ],
+     [
+      3.13,
+      -0.38
+     ],
+     [
+      3.13,
+      -0.18
+     ],
+     [
+      3.03,
+      -0.08
+     ],
+     [
+      2.33,
+      -0.08
+     ],
+     [
+      2.23,
+      0.02
+     ],
+     [
+      2.23,
+      0.12
+     ],
+     [
+      2.13,
+      0.22
+     ],
+     [
+      1.63,
+      0.22
+     ],
+     [
+      1.63,
+      0.12
+     ],
+     [
+      1.53,
+      0.02
+     ],
+     [
+      1.13,
+      0.02
+     ],
+     [
+      1.03,
+      -0.08
+     ],
+     [
+      0.63,
+      -0.08
+     ],
+     [
+      0.53,
+      0.02
+     ],
+     [
+      0.53,
+      0.22
+     ],
+     [
+      0.43,
+      0.32
+     ],
+     [
+      0.43,
+      0.62
+     ],
+     [
+      -1.07,
+      0.62
+     ],
+     [
+      -1.07,
+      0.52
+     ],
+     [
+      -1.17,
+      0.42
+     ],
+     [
+      -1.17,
+      0.22
+     ],
+     [
+      -1.27,
+      0.12
+     ],
+     [
+      -1.27,
+      -0.08
+     ],
+     [
+      -1.37,
+      -0.18
+     ],
+     [
+      -1.47,
+      -0.18
+     ],
+     [
+      -1.57,
+      -0.28
+     ],
+     [
+      -1.77,
+      -0.28
+     ],
+     [
+      -1.77,
+      -0.68
+     ],
+     [
+      -1.57,
+      -0.68
+     ],
+     [
+      -1.47,
+      -0.78
+     ],
+     [
+      -1.47,
+      -1.18
+     ],
+     [
+      -1.57,
+      -1.28
+     ],
+     [
+      -1.77,
+      -1.28
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429992.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429992.json
new file mode 100644
index 0000000000000000000000000000000000000000..244f6b20cfcc1c4c88ddcaf5afb700879d6a5a64
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429992.json	
@@ -0,0 +1,504 @@
+{
+ "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": [
+      1.82,
+      -1.33,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.4,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      -1.04,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.18,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.3,
+       0.0
+      ],
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      -1.27,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.29,
+      0.14
+     ],
+     "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": 2.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.06,
+      -2.08,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.04,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.63,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.8,
+      -1.5
+     ],
+     [
+      -1.7,
+      -1.5
+     ],
+     [
+      -1.6,
+      -1.6
+     ],
+     [
+      -1.6,
+      -1.8
+     ],
+     [
+      -1.5,
+      -1.9
+     ],
+     [
+      -1.5,
+      -2.1
+     ],
+     [
+      -1.4,
+      -2.2
+     ],
+     [
+      -1.4,
+      -2.5
+     ],
+     [
+      -1.3,
+      -2.6
+     ],
+     [
+      -1.3,
+      -2.7
+     ],
+     [
+      -1.2,
+      -2.7
+     ],
+     [
+      -1.1,
+      -2.8
+     ],
+     [
+      -1.1,
+      -3.1
+     ],
+     [
+      -1.0,
+      -3.2
+     ],
+     [
+      -1.0,
+      -3.4
+     ],
+     [
+      1.1,
+      -3.4
+     ],
+     [
+      1.1,
+      -3.3
+     ],
+     [
+      1.2,
+      -3.2
+     ],
+     [
+      1.5,
+      -3.2
+     ],
+     [
+      1.6,
+      -3.1
+     ],
+     [
+      1.7,
+      -3.1
+     ],
+     [
+      1.8,
+      -3.0
+     ],
+     [
+      2.0,
+      -3.0
+     ],
+     [
+      2.1,
+      -2.9
+     ],
+     [
+      2.2,
+      -2.9
+     ],
+     [
+      2.3,
+      -2.8
+     ],
+     [
+      2.5,
+      -2.8
+     ],
+     [
+      2.6,
+      -2.7
+     ],
+     [
+      2.7,
+      -2.7
+     ],
+     [
+      2.7,
+      -1.2
+     ],
+     [
+      2.6,
+      -1.2
+     ],
+     [
+      2.5,
+      -1.1
+     ],
+     [
+      2.5,
+      -1.0
+     ],
+     [
+      2.4,
+      -0.9
+     ],
+     [
+      2.4,
+      -0.7
+     ],
+     [
+      2.3,
+      -0.6
+     ],
+     [
+      2.3,
+      -0.5
+     ],
+     [
+      2.2,
+      -0.4
+     ],
+     [
+      2.2,
+      0.1
+     ],
+     [
+      2.1,
+      0.2
+     ],
+     [
+      2.1,
+      0.4
+     ],
+     [
+      2.0,
+      0.5
+     ],
+     [
+      2.0,
+      0.8
+     ],
+     [
+      1.9,
+      0.9
+     ],
+     [
+      1.9,
+      1.2
+     ],
+     [
+      1.8,
+      1.3
+     ],
+     [
+      1.8,
+      1.4
+     ],
+     [
+      0.9,
+      1.4
+     ],
+     [
+      0.8,
+      1.3
+     ],
+     [
+      0.7,
+      1.3
+     ],
+     [
+      0.6,
+      1.2
+     ],
+     [
+      0.5,
+      1.2
+     ],
+     [
+      0.4,
+      1.1
+     ],
+     [
+      -0.1,
+      1.1
+     ],
+     [
+      -0.3,
+      1.3
+     ],
+     [
+      -0.4,
+      1.3
+     ],
+     [
+      -0.5,
+      1.4
+     ],
+     [
+      -0.5,
+      1.7
+     ],
+     [
+      -1.8,
+      1.7
+     ],
+     [
+      -1.8,
+      0.7
+     ],
+     [
+      -1.7,
+      0.7
+     ],
+     [
+      -1.5,
+      0.5
+     ],
+     [
+      -1.5,
+      0.4
+     ],
+     [
+      -1.4,
+      0.3
+     ],
+     [
+      -1.4,
+      0.0
+     ],
+     [
+      -1.5,
+      -0.1
+     ],
+     [
+      -1.8,
+      -0.1
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429998.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429998.json
new file mode 100644
index 0000000000000000000000000000000000000000..076e18caff3ae2d7a3acb1830b5491ca93536a20
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47429998.json	
@@ -0,0 +1,228 @@
+{
+ "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": [
+      0.15,
+      -2.86,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      2.28,
+      0.91,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.26,
+      -4.57
+     ],
+     [
+      -1.16,
+      -4.57
+     ],
+     [
+      -1.06,
+      -4.67
+     ],
+     [
+      -1.06,
+      -4.87
+     ],
+     [
+      1.44,
+      -4.87
+     ],
+     [
+      1.44,
+      -0.77
+     ],
+     [
+      0.84,
+      -0.77
+     ],
+     [
+      0.74,
+      -0.67
+     ],
+     [
+      0.74,
+      0.13
+     ],
+     [
+      0.54,
+      0.33
+     ],
+     [
+      0.54,
+      0.43
+     ],
+     [
+      -0.66,
+      0.43
+     ],
+     [
+      -0.66,
+      0.23
+     ],
+     [
+      -0.76,
+      0.13
+     ],
+     [
+      -1.26,
+      0.13
+     ],
+     [
+      -1.26,
+      -0.57
+     ],
+     [
+      -1.06,
+      -0.57
+     ],
+     [
+      -0.96,
+      -0.67
+     ],
+     [
+      -0.96,
+      -0.97
+     ],
+     [
+      -1.06,
+      -1.07
+     ],
+     [
+      -1.06,
+      -2.27
+     ],
+     [
+      -1.16,
+      -2.37
+     ],
+     [
+      -1.26,
+      -2.37
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430007.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430007.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9241982476953ac4546831d44cd8985a4a652a0
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430007.json	
@@ -0,0 +1,276 @@
+{
+ "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": [
+      0.59,
+      -0.12,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.84,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.49,
+      -0.39,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.53,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      -0.48,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.51,
+      0.75
+     ],
+     "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": 1.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.62,
+      -0.28
+     ],
+     [
+      -1.32,
+      -0.28
+     ],
+     [
+      -1.22,
+      -0.38
+     ],
+     [
+      -1.22,
+      -0.98
+     ],
+     [
+      -0.92,
+      -0.98
+     ],
+     [
+      -0.82,
+      -1.08
+     ],
+     [
+      -0.72,
+      -1.08
+     ],
+     [
+      -0.62,
+      -1.18
+     ],
+     [
+      -0.62,
+      -2.08
+     ],
+     [
+      1.18,
+      -2.08
+     ],
+     [
+      1.18,
+      -1.38
+     ],
+     [
+      1.08,
+      -1.38
+     ],
+     [
+      0.98,
+      -1.28
+     ],
+     [
+      0.98,
+      -0.98
+     ],
+     [
+      1.08,
+      -0.88
+     ],
+     [
+      1.18,
+      -0.88
+     ],
+     [
+      1.18,
+      1.22
+     ],
+     [
+      -1.62,
+      1.22
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430023.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430023.json
new file mode 100644
index 0000000000000000000000000000000000000000..48fa0e9fa6c70911e95884e26c2b73e651802790
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430023.json	
@@ -0,0 +1,662 @@
+{
+ "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": [
+      1.17,
+      2.13,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      0.66,
+      0.25
+     ],
+     "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": 4.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.14,
+      1.35,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.31,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.01,
+      1.5,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.28,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.51,
+      1.74,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.27,
+      0.36
+     ],
+     "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": 3.83
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.17,
+      2.13,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.66,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.42,
+       0.0
+      ],
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.38,
+      0.5,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.46,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.77,
+      1.87,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      0.64,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.82,
+      0.86,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.11,
+      0.7
+     ],
+     "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": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.14,
+      1.7,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.11,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.38,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      -0.81,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.02,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.22,
+       0.0
+      ],
+      [
+       -0.22,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.25,
+      -0.66
+     ],
+     [
+      -2.15,
+      -0.66
+     ],
+     [
+      -2.05,
+      -0.76
+     ],
+     [
+      -2.05,
+      -0.96
+     ],
+     [
+      -1.95,
+      -1.06
+     ],
+     [
+      -1.85,
+      -1.06
+     ],
+     [
+      -1.75,
+      -1.16
+     ],
+     [
+      -1.75,
+      -1.26
+     ],
+     [
+      -1.35,
+      -1.26
+     ],
+     [
+      -1.35,
+      -1.16
+     ],
+     [
+      -1.25,
+      -1.06
+     ],
+     [
+      -0.75,
+      -1.06
+     ],
+     [
+      -0.65,
+      -1.16
+     ],
+     [
+      -0.65,
+      -1.26
+     ],
+     [
+      1.05,
+      -1.26
+     ],
+     [
+      1.05,
+      -1.16
+     ],
+     [
+      1.25,
+      -0.96
+     ],
+     [
+      1.75,
+      -0.96
+     ],
+     [
+      1.85,
+      -0.86
+     ],
+     [
+      2.25,
+      -0.86
+     ],
+     [
+      2.35,
+      -0.76
+     ],
+     [
+      2.55,
+      -0.76
+     ],
+     [
+      2.65,
+      -0.66
+     ],
+     [
+      2.75,
+      -0.66
+     ],
+     [
+      2.75,
+      -0.56
+     ],
+     [
+      2.85,
+      -0.46
+     ],
+     [
+      3.25,
+      -0.46
+     ],
+     [
+      3.25,
+      1.24
+     ],
+     [
+      3.15,
+      1.24
+     ],
+     [
+      3.05,
+      1.34
+     ],
+     [
+      3.05,
+      1.54
+     ],
+     [
+      2.95,
+      1.64
+     ],
+     [
+      2.95,
+      1.74
+     ],
+     [
+      2.85,
+      1.84
+     ],
+     [
+      2.45,
+      1.84
+     ],
+     [
+      2.35,
+      1.94
+     ],
+     [
+      2.35,
+      2.44
+     ],
+     [
+      2.15,
+      2.64
+     ],
+     [
+      2.05,
+      2.64
+     ],
+     [
+      1.95,
+      2.74
+     ],
+     [
+      1.95,
+      2.84
+     ],
+     [
+      -0.25,
+      2.84
+     ],
+     [
+      -0.25,
+      2.74
+     ],
+     [
+      -0.35,
+      2.64
+     ],
+     [
+      -0.75,
+      2.64
+     ],
+     [
+      -0.85,
+      2.54
+     ],
+     [
+      -1.15,
+      2.54
+     ],
+     [
+      -1.25,
+      2.44
+     ],
+     [
+      -1.45,
+      2.44
+     ],
+     [
+      -1.55,
+      2.34
+     ],
+     [
+      -1.85,
+      2.34
+     ],
+     [
+      -1.95,
+      2.24
+     ],
+     [
+      -1.95,
+      1.74
+     ],
+     [
+      -2.05,
+      1.64
+     ],
+     [
+      -2.05,
+      1.44
+     ],
+     [
+      -2.15,
+      1.34
+     ],
+     [
+      -2.25,
+      1.34
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430034.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430034.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdb4fcc24dce7a5592a15652b6321fd4e75b249c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430034.json	
@@ -0,0 +1,468 @@
+{
+ "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": [
+      2.16,
+      -0.47,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.43,
+      0.56
+     ],
+     "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": 4.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.65,
+      -0.37,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.11,
+      0.7
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.35,
+      -1.19,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.1,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.17,
+      0.79,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.06,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.96,
+      -0.49
+     ],
+     [
+      -0.86,
+      -0.49
+     ],
+     [
+      -0.76,
+      -0.59
+     ],
+     [
+      -0.76,
+      -1.09
+     ],
+     [
+      -0.66,
+      -1.19
+     ],
+     [
+      -0.66,
+      -1.29
+     ],
+     [
+      -0.56,
+      -1.39
+     ],
+     [
+      -0.56,
+      -1.49
+     ],
+     [
+      -0.36,
+      -1.69
+     ],
+     [
+      -0.36,
+      -1.79
+     ],
+     [
+      -0.26,
+      -1.89
+     ],
+     [
+      -0.26,
+      -1.99
+     ],
+     [
+      -0.16,
+      -2.09
+     ],
+     [
+      -0.16,
+      -2.19
+     ],
+     [
+      -0.06,
+      -2.29
+     ],
+     [
+      0.04,
+      -2.29
+     ],
+     [
+      0.14,
+      -2.39
+     ],
+     [
+      0.14,
+      -2.49
+     ],
+     [
+      0.34,
+      -2.49
+     ],
+     [
+      0.44,
+      -2.59
+     ],
+     [
+      0.44,
+      -2.79
+     ],
+     [
+      2.94,
+      -2.79
+     ],
+     [
+      2.94,
+      -2.09
+     ],
+     [
+      2.84,
+      -1.99
+     ],
+     [
+      2.84,
+      -1.09
+     ],
+     [
+      2.94,
+      -0.99
+     ],
+     [
+      3.14,
+      -0.99
+     ],
+     [
+      3.14,
+      -0.39
+     ],
+     [
+      3.04,
+      -0.29
+     ],
+     [
+      3.04,
+      -0.19
+     ],
+     [
+      2.84,
+      0.01
+     ],
+     [
+      2.84,
+      0.11
+     ],
+     [
+      2.64,
+      0.31
+     ],
+     [
+      2.64,
+      0.41
+     ],
+     [
+      2.54,
+      0.51
+     ],
+     [
+      2.54,
+      0.61
+     ],
+     [
+      2.34,
+      0.81
+     ],
+     [
+      2.34,
+      1.41
+     ],
+     [
+      2.14,
+      1.41
+     ],
+     [
+      2.04,
+      1.51
+     ],
+     [
+      2.04,
+      1.91
+     ],
+     [
+      2.14,
+      2.01
+     ],
+     [
+      2.14,
+      2.41
+     ],
+     [
+      1.34,
+      2.41
+     ],
+     [
+      1.14,
+      2.21
+     ],
+     [
+      1.14,
+      2.01
+     ],
+     [
+      0.94,
+      1.81
+     ],
+     [
+      0.24,
+      1.81
+     ],
+     [
+      0.04,
+      1.61
+     ],
+     [
+      -0.16,
+      1.61
+     ],
+     [
+      -0.16,
+      1.51
+     ],
+     [
+      -0.26,
+      1.41
+     ],
+     [
+      -0.46,
+      1.41
+     ],
+     [
+      -0.56,
+      1.31
+     ],
+     [
+      -0.66,
+      1.31
+     ],
+     [
+      -0.66,
+      1.21
+     ],
+     [
+      -0.76,
+      1.11
+     ],
+     [
+      -0.96,
+      1.11
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430038.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430038.json
new file mode 100644
index 0000000000000000000000000000000000000000..505b0678d34de85e81e12baf6c3e914b42c1d6b0
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430038.json	
@@ -0,0 +1,394 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.24,
+      0.48,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.38,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      1.24,
+      -0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.36,
+      0.46
+     ],
+     "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": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.74,
+      0.38,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.15,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.39,
+       0.0
+      ],
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      0.14,
+      -0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.18,
+      1.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      -1.96,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.73,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.38,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       -0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.22,
+      0.67,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.57,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.8,
+      -2.84
+     ],
+     [
+      -1.7,
+      -2.84
+     ],
+     [
+      -1.6,
+      -2.94
+     ],
+     [
+      -1.6,
+      -3.04
+     ],
+     [
+      -1.2,
+      -3.04
+     ],
+     [
+      -1.1,
+      -3.14
+     ],
+     [
+      -1.1,
+      -3.24
+     ],
+     [
+      0.8,
+      -3.24
+     ],
+     [
+      0.8,
+      -3.14
+     ],
+     [
+      1.0,
+      -2.94
+     ],
+     [
+      1.1,
+      -2.94
+     ],
+     [
+      1.1,
+      0.76
+     ],
+     [
+      0.9,
+      0.76
+     ],
+     [
+      0.7,
+      0.96
+     ],
+     [
+      0.7,
+      1.46
+     ],
+     [
+      0.6,
+      1.56
+     ],
+     [
+      0.6,
+      1.76
+     ],
+     [
+      -1.1,
+      1.76
+     ],
+     [
+      -1.1,
+      1.66
+     ],
+     [
+      -1.2,
+      1.56
+     ],
+     [
+      -1.4,
+      1.56
+     ],
+     [
+      -1.5,
+      1.46
+     ],
+     [
+      -1.8,
+      1.46
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430048.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430048.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc02b357219a6f19609147ef288b2aa2e4784468
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430048.json	
@@ -0,0 +1,372 @@
+{
+ "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": [
+      0.81,
+      -3.27,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.75,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.19,
+      -0.95,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.29,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       -0.62,
+       0.0
+      ],
+      [
+       0.62,
+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      -1.96,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.22,
+      0.89
+     ],
+     "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": 3.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.75,
+      -4.62
+     ],
+     [
+      -0.65,
+      -4.62
+     ],
+     [
+      -0.55,
+      -4.72
+     ],
+     [
+      -0.45,
+      -4.72
+     ],
+     [
+      -0.35,
+      -4.82
+     ],
+     [
+      -0.35,
+      -4.92
+     ],
+     [
+      1.65,
+      -4.92
+     ],
+     [
+      1.65,
+      -4.72
+     ],
+     [
+      1.75,
+      -4.62
+     ],
+     [
+      2.15,
+      -4.62
+     ],
+     [
+      2.15,
+      -2.52
+     ],
+     [
+      2.05,
+      -2.52
+     ],
+     [
+      1.35,
+      -1.82
+     ],
+     [
+      1.35,
+      -1.42
+     ],
+     [
+      1.25,
+      -1.32
+     ],
+     [
+      1.25,
+      -1.12
+     ],
+     [
+      1.15,
+      -1.02
+     ],
+     [
+      1.15,
+      -0.72
+     ],
+     [
+      1.05,
+      -0.62
+     ],
+     [
+      1.05,
+      -0.32
+     ],
+     [
+      1.15,
+      -0.22
+     ],
+     [
+      1.35,
+      -0.22
+     ],
+     [
+      1.45,
+      -0.12
+     ],
+     [
+      1.55,
+      -0.12
+     ],
+     [
+      1.55,
+      0.28
+     ],
+     [
+      1.45,
+      0.28
+     ],
+     [
+      1.25,
+      0.48
+     ],
+     [
+      1.25,
+      0.58
+     ],
+     [
+      -0.55,
+      0.58
+     ],
+     [
+      -0.55,
+      0.48
+     ],
+     [
+      -0.65,
+      0.38
+     ],
+     [
+      -0.75,
+      0.38
+     ],
+     [
+      -0.75,
+      -1.02
+     ],
+     [
+      -0.65,
+      -1.02
+     ],
+     [
+      -0.55,
+      -1.12
+     ],
+     [
+      -0.55,
+      -1.62
+     ],
+     [
+      -0.45,
+      -1.72
+     ],
+     [
+      -0.45,
+      -2.42
+     ],
+     [
+      -0.35,
+      -2.52
+     ],
+     [
+      -0.35,
+      -2.72
+     ],
+     [
+      -0.65,
+      -3.02
+     ],
+     [
+      -0.75,
+      -3.02
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430422.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430422.json
new file mode 100644
index 0000000000000000000000000000000000000000..96d1f1aeed477c3e62035f013f38dee3eec7a217
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430422.json	
@@ -0,0 +1,410 @@
+{
+ "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": [
+      0.75,
+      0.53,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      0.62,
+      0.27
+     ],
+     "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": 1.17
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.27,
+      -1.02,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.06,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.29,
+      0.61,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.32,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.39,
+      -0.42,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.15,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.32,
+      -0.18,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.47,
+      0.76
+     ],
+     "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": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.66,
+      -1.44
+     ],
+     [
+      -2.56,
+      -1.44
+     ],
+     [
+      -2.46,
+      -1.54
+     ],
+     [
+      -2.46,
+      -1.64
+     ],
+     [
+      -0.96,
+      -1.64
+     ],
+     [
+      -0.96,
+      -1.34
+     ],
+     [
+      -0.86,
+      -1.24
+     ],
+     [
+      -0.56,
+      -1.24
+     ],
+     [
+      -0.46,
+      -1.34
+     ],
+     [
+      -0.06,
+      -1.34
+     ],
+     [
+      0.14,
+      -1.14
+     ],
+     [
+      0.24,
+      -1.14
+     ],
+     [
+      0.34,
+      -1.04
+     ],
+     [
+      0.44,
+      -1.04
+     ],
+     [
+      0.64,
+      -0.84
+     ],
+     [
+      0.74,
+      -0.84
+     ],
+     [
+      0.94,
+      -0.64
+     ],
+     [
+      1.04,
+      -0.64
+     ],
+     [
+      1.24,
+      -0.44
+     ],
+     [
+      1.34,
+      -0.44
+     ],
+     [
+      1.34,
+      0.76
+     ],
+     [
+      1.24,
+      0.76
+     ],
+     [
+      0.94,
+      1.06
+     ],
+     [
+      0.94,
+      1.16
+     ],
+     [
+      -0.96,
+      1.16
+     ],
+     [
+      -0.96,
+      1.06
+     ],
+     [
+      -1.06,
+      0.96
+     ],
+     [
+      -1.16,
+      0.96
+     ],
+     [
+      -1.26,
+      0.86
+     ],
+     [
+      -1.36,
+      0.86
+     ],
+     [
+      -1.56,
+      0.66
+     ],
+     [
+      -1.66,
+      0.66
+     ],
+     [
+      -1.66,
+      0.46
+     ],
+     [
+      -1.76,
+      0.36
+     ],
+     [
+      -2.66,
+      0.36
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430468.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430468.json
new file mode 100644
index 0000000000000000000000000000000000000000..edd40ff6eebc49898037743a1b68c74835a6104d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430468.json	
@@ -0,0 +1,720 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      -2.54,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.47,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.24,
+      -1.15,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.16,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.51,
+       0.0
+      ],
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.41,
+      -0.38,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.39,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.82,
+      0.39,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.45,
+      1.59
+     ],
+     "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": 3.83
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.05,
+      -2.97,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      1.93,
+      0.49
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.89,
+      -3.22,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      2.75,
+      0.58,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      -3.34,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.23,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.22,
+       0.0
+      ],
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.34,
+      1.16,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.45,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.65,
+       0.0
+      ],
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      1.02,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.05,
+      0.01
+     ],
+     "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": 2.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      -1.95,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      2.54,
+      1.11,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.86,
+      -2.21,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.94,
+      0.33
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.06,
+      -1.96,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      0.6,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.22,
+      -2.8,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.03,
+      0.45
+     ],
+     "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": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.21,
+      -2.81,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.04,
+      0.49
+     ],
+     "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": 4.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.61,
+      -4.16
+     ],
+     [
+      1.09,
+      -4.16
+     ],
+     [
+      1.09,
+      -3.86
+     ],
+     [
+      1.19,
+      -3.76
+     ],
+     [
+      1.39,
+      -3.76
+     ],
+     [
+      1.39,
+      -1.56
+     ],
+     [
+      1.29,
+      -1.56
+     ],
+     [
+      1.19,
+      -1.46
+     ],
+     [
+      1.19,
+      -0.96
+     ],
+     [
+      1.29,
+      -0.86
+     ],
+     [
+      1.39,
+      -0.86
+     ],
+     [
+      1.39,
+      1.54
+     ],
+     [
+      -1.41,
+      1.54
+     ],
+     [
+      -1.41,
+      1.44
+     ],
+     [
+      -1.51,
+      1.34
+     ],
+     [
+      -1.51,
+      1.14
+     ],
+     [
+      -1.61,
+      1.04
+     ],
+     [
+      -1.71,
+      1.04
+     ],
+     [
+      -1.81,
+      0.94
+     ],
+     [
+      -2.11,
+      0.94
+     ],
+     [
+      -2.21,
+      0.84
+     ],
+     [
+      -2.41,
+      0.84
+     ],
+     [
+      -2.41,
+      0.24
+     ],
+     [
+      -2.51,
+      0.14
+     ],
+     [
+      -2.61,
+      0.14
+     ],
+     [
+      -2.71,
+      0.04
+     ],
+     [
+      -2.91,
+      0.04
+     ],
+     [
+      -2.91,
+      -0.06
+     ],
+     [
+      -3.01,
+      -0.16
+     ],
+     [
+      -3.41,
+      -0.16
+     ],
+     [
+      -3.51,
+      -0.06
+     ],
+     [
+      -3.71,
+      -0.06
+     ],
+     [
+      -3.81,
+      0.04
+     ],
+     [
+      -4.21,
+      0.04
+     ],
+     [
+      -4.21,
+      -0.16
+     ],
+     [
+      -4.41,
+      -0.36
+     ],
+     [
+      -4.41,
+      -1.06
+     ],
+     [
+      -4.51,
+      -1.16
+     ],
+     [
+      -4.61,
+      -1.16
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430475.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430475.json
new file mode 100644
index 0000000000000000000000000000000000000000..177c6e6e59857939e0c294793be8860a51b92fdd
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/47430475.json	
@@ -0,0 +1,306 @@
+{
+ "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": [
+      -0.34,
+      0.84,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      1.81,
+      0.32
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.39,
+      1.46,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.05,
+      0.36
+     ],
+     "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": 4.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      -0.73,
+      1.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.08,
+      0.19
+     ],
+     "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": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.12,
+      -0.4
+     ],
+     [
+      -2.02,
+      -0.4
+     ],
+     [
+      -1.72,
+      -0.7
+     ],
+     [
+      -1.62,
+      -0.7
+     ],
+     [
+      -1.32,
+      -1.0
+     ],
+     [
+      -1.22,
+      -1.0
+     ],
+     [
+      -0.92,
+      -1.3
+     ],
+     [
+      -0.92,
+      -1.4
+     ],
+     [
+      0.68,
+      -1.4
+     ],
+     [
+      0.68,
+      -1.3
+     ],
+     [
+      0.78,
+      -1.2
+     ],
+     [
+      0.88,
+      -1.2
+     ],
+     [
+      1.78,
+      -0.3
+     ],
+     [
+      1.88,
+      -0.3
+     ],
+     [
+      1.88,
+      1.0
+     ],
+     [
+      1.78,
+      1.0
+     ],
+     [
+      0.18,
+      2.6
+     ],
+     [
+      0.18,
+      2.7
+     ],
+     [
+      -0.82,
+      2.7
+     ],
+     [
+      -0.82,
+      2.6
+     ],
+     [
+      -1.32,
+      2.1
+     ],
+     [
+      -1.42,
+      2.1
+     ],
+     [
+      -1.82,
+      1.7
+     ],
+     [
+      -1.82,
+      1.6
+     ],
+     [
+      -2.02,
+      1.4
+     ],
+     [
+      -2.12,
+      1.4
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5748ce6f01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5748ce6f01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4641c61ea44031629fe731ee8f2f096d87a6ac0c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5748ce6f01.json	
@@ -0,0 +1,944 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      -1.17,
+      -1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.05,
+      0.92
+     ],
+     "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": 0.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.92,
+      0.88,
+      -2.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.89,
+      0.46
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.54,
+      0.76,
+      -2.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.3,
+      0.38
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.5,
+      0.9,
+      -0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.48,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.01,
+      0.19,
+      -3.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.1,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.76,
+      0.49,
+      -3.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.01,
+      0.22
+     ],
+     "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": 0.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      0.94,
+      -2.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.03,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      0.63,
+      -1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.08,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.11,
+      0.78,
+      -2.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.15,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.8,
+      0.93,
+      -2.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.06,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.58,
+      0.97,
+      -0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.05,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.54,
+      0.41,
+      -0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      2.01,
+      0.81
+     ],
+     "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": 0.17
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.0,
+      -1.18,
+      -1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.01,
+      0.08
+     ],
+     "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": 3.83
+   }
+  ],
+  "headphones": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.96,
+      0.69,
+      -2.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.01,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      -0.14,
+      -2.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.07,
+      1.33
+     ],
+     "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": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      0.75,
+      -2.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.06,
+      0.15
+     ],
+     "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": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      0.06,
+      -3.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.16,
+      0.01
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      0.12,
+      -3.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.11,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.61,
+      1.34,
+      -1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.05,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.41,
+       0.0
+      ],
+      [
+       0.41,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.57,
+      0.8,
+      -1.91
+     ],
+     "3D oriented bounding box dimensions": [
+      1.8,
+      0.23,
+      0.94
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.14,
+      0.88,
+      -3.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.42,
+      0.05
+     ],
+     "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": 1.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      -0.14,
+      -2.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.06,
+      1.34
+     ],
+     "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": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      0.12,
+      -3.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.11,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.27,
+      0.0,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      2.44,
+      1.1,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.33,
+      0.4,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      1.04,
+      0.02
+     ],
+     "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": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.63,
+      -1.35
+     ],
+     [
+      0.87,
+      -1.35
+     ],
+     [
+      0.87,
+      1.55
+     ],
+     [
+      -3.63,
+      1.55
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/578511c8a9.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/578511c8a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd2181b6ddd52a837b3310ae58d9120f17894475
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/578511c8a9.json	
@@ -0,0 +1,2994 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.23,
+      -2.08,
+      1.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.51,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -0.51,
+      2.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.84,
+      0.05
+     ],
+     "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": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.41,
+      3.83,
+      2.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.49,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.47,
+      -0.62,
+      1.99
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      1.94,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.3,
+       0.0
+      ],
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.21,
+      0.86,
+      2.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.09,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.55,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.43,
+      2.53,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.48,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.0,
+      -2.92,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.06,
+      0.18
+     ],
+     "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": 2.33
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.44,
+      3.12,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.07,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.51,
+      1.41,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.11,
+      0.02
+     ],
+     "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": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.14,
+      1.17,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.12,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.41,
+       0.0
+      ],
+      [
+       -0.41,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.86,
+      -2.02,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.06,
+      0.02
+     ],
+     "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": 1.5
+   }
+  ],
+  "computer tower": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.98,
+      4.94,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.13,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.59,
+       0.0
+      ],
+      [
+       -0.59,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.02,
+      5.49,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.21,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.06,
+      -0.53,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      1.88,
+      0.28,
+      0.59
+     ],
+     "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": 1.33
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.93,
+      1.37,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.13,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.74,
+       0.0
+      ],
+      [
+       -0.74,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.27,
+      1.89,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.32,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      1.51,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.27,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.54,
+      -1.79,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.06,
+      1.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      8.92,
+      1.73,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      1.22,
+      0.07,
+      2.0
+     ],
+     "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": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.7,
+      -1.46,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      2.09,
+      0.29,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.77,
+      -5.1,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.03,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       -0.59,
+       0.0
+      ],
+      [
+       0.59,
+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.86,
+      3.69,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.03,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      -1.37,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.12,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      8.89,
+      4.16,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.13,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.02,
+      3.07,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.09,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.3,
+       0.0
+      ],
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.76,
+      2.18,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.42,
+      0.02
+     ],
+     "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": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.24,
+      1.13,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.12,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.04,
+      0.94,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.16,
+      0.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -2.09,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.43,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.77,
+      2.97,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.17,
+      0.02
+     ],
+     "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": 3.17
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.73,
+      1.65,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.1,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.41,
+       0.0
+      ],
+      [
+       0.41,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.15,
+      1.44,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.13,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.28,
+      3.24,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.1,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.27,
+      2.2,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.11,
+      0.4
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.91,
+      1.01,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.06,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.06,
+      -3.28,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.12,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.71,
+      1.58,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.11,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      -2.67,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.12,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      -2.48,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.12,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.57,
+      2.74,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.09,
+      0.37
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.51,
+      5.47,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.12,
+      0.27
+     ],
+     "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": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.87,
+      4.77,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.14,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.63,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.57,
+      2.75,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.43,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.49,
+      -4.05,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.28,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.03,
+      6.38,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.08,
+      0.28,
+      1.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.7,
+      0.34,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.72,
+      0.97,
+      0.12
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.99,
+      3.42,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      2.47,
+      1.09,
+      0.51
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      2.99,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.58,
+      0.48,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.43,
+       0.0
+      ],
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.02,
+      5.54,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.99,
+      0.72,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      -0.28,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      1.44,
+      0.37,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.42,
+      5.62,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.55,
+      1.04,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.76,
+      -3.35,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.17,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.05,
+      -0.03,
+      -0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.67,
+      0.11,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.16,
+      -2.87,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.16,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      2.32,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.31,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.43,
+      1.54,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.28,
+      0.7
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.21,
+      1.94,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.53,
+      0.35
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.13,
+      1.91,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.25,
+      0.7
+     ],
+     "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": 3.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.97,
+      2.45,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.07,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       -0.62,
+       0.0
+      ],
+      [
+       0.62,
+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.81,
+      1.26,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.2,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.33,
+      1.21,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.15,
+      0.29
+     ],
+     "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": 4.33
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.19,
+      6.2,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      1.5,
+      0.05,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      8.7,
+      3.24,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      1.31,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.54,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.96,
+      6.42,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.16,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.9,
+      6.35,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      0.12,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.41,
+       0.0
+      ],
+      [
+       0.41,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.68,
+      1.09,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      1.05,
+      0.03
+     ],
+     "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": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.08,
+      6.6,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.06,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.96,
+      -1.12
+     ],
+     [
+      -1.56,
+      -1.12
+     ],
+     [
+      -1.46,
+      -1.22
+     ],
+     [
+      -1.46,
+      -1.32
+     ],
+     [
+      -1.36,
+      -1.42
+     ],
+     [
+      -1.36,
+      -1.52
+     ],
+     [
+      -1.16,
+      -1.72
+     ],
+     [
+      -1.06,
+      -1.72
+     ],
+     [
+      -0.76,
+      -2.02
+     ],
+     [
+      -0.66,
+      -2.02
+     ],
+     [
+      -0.46,
+      -2.22
+     ],
+     [
+      -0.36,
+      -2.22
+     ],
+     [
+      -0.16,
+      -2.42
+     ],
+     [
+      -0.16,
+      -2.52
+     ],
+     [
+      0.14,
+      -2.82
+     ],
+     [
+      0.14,
+      -2.92
+     ],
+     [
+      0.24,
+      -2.92
+     ],
+     [
+      0.54,
+      -3.22
+     ],
+     [
+      0.64,
+      -3.22
+     ],
+     [
+      0.84,
+      -3.42
+     ],
+     [
+      1.04,
+      -3.42
+     ],
+     [
+      1.14,
+      -3.52
+     ],
+     [
+      1.14,
+      -3.62
+     ],
+     [
+      1.24,
+      -3.62
+     ],
+     [
+      1.34,
+      -3.72
+     ],
+     [
+      1.54,
+      -3.72
+     ],
+     [
+      1.94,
+      -4.12
+     ],
+     [
+      1.94,
+      -4.22
+     ],
+     [
+      2.34,
+      -4.62
+     ],
+     [
+      2.54,
+      -4.62
+     ],
+     [
+      2.64,
+      -4.72
+     ],
+     [
+      2.74,
+      -4.72
+     ],
+     [
+      3.14,
+      -5.12
+     ],
+     [
+      3.14,
+      -5.22
+     ],
+     [
+      3.24,
+      -5.32
+     ],
+     [
+      3.34,
+      -5.32
+     ],
+     [
+      3.44,
+      -5.42
+     ],
+     [
+      3.44,
+      -5.62
+     ],
+     [
+      5.14,
+      -5.62
+     ],
+     [
+      5.14,
+      -5.52
+     ],
+     [
+      5.24,
+      -5.42
+     ],
+     [
+      5.24,
+      -5.32
+     ],
+     [
+      5.34,
+      -5.22
+     ],
+     [
+      5.34,
+      -5.12
+     ],
+     [
+      5.64,
+      -4.82
+     ],
+     [
+      5.64,
+      -4.72
+     ],
+     [
+      5.74,
+      -4.62
+     ],
+     [
+      5.74,
+      -4.52
+     ],
+     [
+      5.94,
+      -4.32
+     ],
+     [
+      5.94,
+      -4.12
+     ],
+     [
+      6.14,
+      -3.92
+     ],
+     [
+      6.14,
+      -3.72
+     ],
+     [
+      6.44,
+      -3.42
+     ],
+     [
+      6.44,
+      -3.32
+     ],
+     [
+      6.54,
+      -3.22
+     ],
+     [
+      6.54,
+      -3.12
+     ],
+     [
+      6.74,
+      -2.92
+     ],
+     [
+      6.74,
+      -2.82
+     ],
+     [
+      6.84,
+      -2.72
+     ],
+     [
+      6.84,
+      -2.32
+     ],
+     [
+      6.94,
+      -2.22
+     ],
+     [
+      7.14,
+      -2.22
+     ],
+     [
+      7.14,
+      -2.12
+     ],
+     [
+      7.44,
+      -1.82
+     ],
+     [
+      7.44,
+      -1.62
+     ],
+     [
+      7.64,
+      -1.42
+     ],
+     [
+      7.64,
+      -1.32
+     ],
+     [
+      7.84,
+      -1.12
+     ],
+     [
+      7.84,
+      -1.02
+     ],
+     [
+      8.04,
+      -0.82
+     ],
+     [
+      8.04,
+      -0.62
+     ],
+     [
+      8.34,
+      -0.32
+     ],
+     [
+      8.34,
+      -0.22
+     ],
+     [
+      8.54,
+      -0.02
+     ],
+     [
+      8.54,
+      0.08
+     ],
+     [
+      8.74,
+      0.28
+     ],
+     [
+      8.74,
+      0.68
+     ],
+     [
+      8.94,
+      0.88
+     ],
+     [
+      8.94,
+      0.98
+     ],
+     [
+      9.14,
+      1.18
+     ],
+     [
+      9.14,
+      1.28
+     ],
+     [
+      9.24,
+      1.38
+     ],
+     [
+      9.24,
+      1.48
+     ],
+     [
+      9.34,
+      1.58
+     ],
+     [
+      9.44,
+      1.58
+     ],
+     [
+      9.44,
+      4.28
+     ],
+     [
+      9.14,
+      4.28
+     ],
+     [
+      9.04,
+      4.38
+     ],
+     [
+      8.94,
+      4.38
+     ],
+     [
+      8.84,
+      4.48
+     ],
+     [
+      8.44,
+      4.48
+     ],
+     [
+      8.34,
+      4.38
+     ],
+     [
+      8.34,
+      4.18
+     ],
+     [
+      8.24,
+      4.08
+     ],
+     [
+      7.94,
+      4.08
+     ],
+     [
+      7.84,
+      4.18
+     ],
+     [
+      7.84,
+      4.48
+     ],
+     [
+      7.74,
+      4.58
+     ],
+     [
+      7.74,
+      5.08
+     ],
+     [
+      7.54,
+      5.08
+     ],
+     [
+      7.44,
+      5.18
+     ],
+     [
+      6.94,
+      5.18
+     ],
+     [
+      6.84,
+      5.28
+     ],
+     [
+      6.84,
+      5.78
+     ],
+     [
+      6.54,
+      5.78
+     ],
+     [
+      6.44,
+      5.88
+     ],
+     [
+      5.84,
+      5.88
+     ],
+     [
+      5.84,
+      5.78
+     ],
+     [
+      5.74,
+      5.68
+     ],
+     [
+      5.54,
+      5.68
+     ],
+     [
+      5.44,
+      5.78
+     ],
+     [
+      5.44,
+      5.88
+     ],
+     [
+      5.24,
+      6.08
+     ],
+     [
+      5.04,
+      6.08
+     ],
+     [
+      4.94,
+      6.18
+     ],
+     [
+      4.84,
+      6.18
+     ],
+     [
+      4.74,
+      6.28
+     ],
+     [
+      4.64,
+      6.28
+     ],
+     [
+      4.54,
+      6.38
+     ],
+     [
+      4.44,
+      6.38
+     ],
+     [
+      4.34,
+      6.48
+     ],
+     [
+      4.14,
+      6.48
+     ],
+     [
+      4.04,
+      6.58
+     ],
+     [
+      3.94,
+      6.58
+     ],
+     [
+      3.84,
+      6.68
+     ],
+     [
+      3.64,
+      6.68
+     ],
+     [
+      3.54,
+      6.78
+     ],
+     [
+      3.34,
+      6.78
+     ],
+     [
+      3.24,
+      6.88
+     ],
+     [
+      3.24,
+      6.98
+     ],
+     [
+      1.74,
+      6.98
+     ],
+     [
+      1.74,
+      6.78
+     ],
+     [
+      1.64,
+      6.68
+     ],
+     [
+      1.64,
+      6.58
+     ],
+     [
+      1.44,
+      6.38
+     ],
+     [
+      1.44,
+      6.28
+     ],
+     [
+      1.34,
+      6.18
+     ],
+     [
+      1.34,
+      6.08
+     ],
+     [
+      1.14,
+      5.88
+     ],
+     [
+      1.14,
+      5.78
+     ],
+     [
+      1.04,
+      5.68
+     ],
+     [
+      1.04,
+      5.58
+     ],
+     [
+      0.94,
+      5.48
+     ],
+     [
+      0.94,
+      5.38
+     ],
+     [
+      0.74,
+      5.18
+     ],
+     [
+      0.74,
+      5.08
+     ],
+     [
+      0.64,
+      4.98
+     ],
+     [
+      0.64,
+      4.88
+     ],
+     [
+      0.44,
+      4.68
+     ],
+     [
+      0.44,
+      4.58
+     ],
+     [
+      0.34,
+      4.48
+     ],
+     [
+      0.34,
+      4.38
+     ],
+     [
+      0.14,
+      4.18
+     ],
+     [
+      0.14,
+      4.08
+     ],
+     [
+      -0.06,
+      3.88
+     ],
+     [
+      -0.06,
+      3.78
+     ],
+     [
+      -0.16,
+      3.68
+     ],
+     [
+      -0.16,
+      3.58
+     ],
+     [
+      -0.36,
+      3.38
+     ],
+     [
+      -0.36,
+      3.28
+     ],
+     [
+      -0.46,
+      3.18
+     ],
+     [
+      -0.46,
+      3.08
+     ],
+     [
+      -0.76,
+      2.78
+     ],
+     [
+      -0.76,
+      2.68
+     ],
+     [
+      -0.86,
+      2.58
+     ],
+     [
+      -0.86,
+      2.38
+     ],
+     [
+      -1.26,
+      1.98
+     ],
+     [
+      -1.26,
+      1.78
+     ],
+     [
+      -1.36,
+      1.68
+     ],
+     [
+      -1.36,
+      1.58
+     ],
+     [
+      -1.46,
+      1.48
+     ],
+     [
+      -1.46,
+      1.38
+     ],
+     [
+      -1.56,
+      1.28
+     ],
+     [
+      -1.56,
+      1.18
+     ],
+     [
+      -1.66,
+      1.08
+     ],
+     [
+      -1.66,
+      0.98
+     ],
+     [
+      -1.86,
+      0.78
+     ],
+     [
+      -1.96,
+      0.78
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5942004064.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec6b70d39224a23d87de6832e9dbf10c4d35ad9f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5942004064.json	
@@ -0,0 +1,1472 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.45,
+      1.36,
+      -1.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.14,
+      0.24
+     ],
+     "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": 0.67
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.31,
+      1.14,
+      -1.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.33,
+      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": 1.83
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.55,
+      1.05,
+      -1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.52,
+      1.76
+     ],
+     "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": 4.83
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.21,
+      1.19,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.04,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.11,
+      -1.1,
+      -0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.13,
+      0.28
+     ],
+     "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": 1.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.42,
+      0.79,
+      -1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.78,
+      0.58
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.15,
+      0.92,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.55,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.2,
+      0.73,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      1.71,
+      0.52,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.26,
+       0.0
+      ],
+      [
+       0.26,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      0.9,
+      -2.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.12,
+      0.22
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.57,
+      0.73,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.23,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.3,
+       0.0
+      ],
+      [
+       0.3,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.96,
+      0.65,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.17,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.65,
+       0.0
+      ],
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.19,
+      0.83,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.03,
+      0.29
+     ],
+     "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": 1.83
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.56,
+      0.62,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      1.85,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.39,
+      0.24,
+      -1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.44,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.33,
+      0.31,
+      -1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      2.33,
+      1.11,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.31,
+      1.27,
+      -2.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.04,
+      0.26
+     ],
+     "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": 5.17
+   }
+  ],
+  "headphones": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.59,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      1.2,
+      0.16
+     ],
+     "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": 4.17
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.08,
+      0.45,
+      -1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.05,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.48,
+      0.55,
+      -2.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.02,
+      0.26
+     ],
+     "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": 3.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      0.9,
+      -2.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.12,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.57,
+      0.73,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.22,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.95,
+      0.65,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.17,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       0.64,
+       0.0
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.36,
+      -0.05,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      1.76,
+      0.66,
+      0.44
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      0.29,
+      -1.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.3,
+      0.29
+     ],
+     "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": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.96,
+      0.28,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.5,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.5,
+      0.13,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.26,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.33,
+       0.0
+      ],
+      [
+       -0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.66,
+      0.25,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.3,
+      0.29
+     ],
+     "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": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      0.49,
+      -2.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.06,
+      0.17
+     ],
+     "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": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.79,
+      0.26,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.19,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      0.4,
+      -2.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.25,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      0.52,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.08,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.23,
+      0.68,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      2.08,
+      0.43,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.47,
+      0.66,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      0.39,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.16,
+       0.0
+      ],
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.4,
+      0.64,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.2,
+      0.81
+     ],
+     "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": 4.33
+   }
+  ],
+  "table lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.16,
+      -0.14,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.22,
+      0.15
+     ],
+     "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": 3.83
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.71,
+      0.54,
+      -0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.1,
+      0.03
+     ],
+     "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": 1.17
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.5,
+      1.21,
+      -1.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.34,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.58,
+      1.44,
+      -1.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.03,
+      0.13
+     ],
+     "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": 5.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      0.61,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.64,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.15,
+      -1.35
+     ],
+     [
+      1.55,
+      -1.35
+     ],
+     [
+      1.55,
+      -1.25
+     ],
+     [
+      1.65,
+      -1.15
+     ],
+     [
+      2.85,
+      -1.15
+     ],
+     [
+      2.95,
+      -1.05
+     ],
+     [
+      4.05,
+      -1.05
+     ],
+     [
+      4.15,
+      -0.95
+     ],
+     [
+      4.45,
+      -0.95
+     ],
+     [
+      4.45,
+      1.75
+     ],
+     [
+      0.65,
+      1.75
+     ],
+     [
+      0.65,
+      1.65
+     ],
+     [
+      0.55,
+      1.55
+     ],
+     [
+      -0.55,
+      1.55
+     ],
+     [
+      -0.65,
+      1.45
+     ],
+     [
+      -1.75,
+      1.45
+     ],
+     [
+      -1.85,
+      1.35
+     ],
+     [
+      -2.65,
+      1.35
+     ],
+     [
+      -2.75,
+      1.25
+     ],
+     [
+      -3.15,
+      1.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5eb31827b7.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5eb31827b7.json
new file mode 100644
index 0000000000000000000000000000000000000000..7647f39f03dd3c613b2de41df0c57d60bd69c2dd
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5eb31827b7.json	
@@ -0,0 +1,1218 @@
+{
+ "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": [
+      1.78,
+      0.86,
+      -0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.15,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.38,
+      -1.49,
+      -1.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.03,
+      0.8
+     ],
+     "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": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.26,
+      -1.48,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.03,
+      1.08
+     ],
+     "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": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.43,
+      -1.67,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.02,
+      0.69
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.95,
+      -1.47,
+      -0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.02,
+      1.04
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.12,
+      -1.58,
+      -0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.0,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.27,
+       0.0
+      ],
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.12,
+      -1.58,
+      -0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "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": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.11,
+      -1.59,
+      -0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "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": 0.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.76,
+      0.74,
+      -0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      1.14,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.3,
+      0.46,
+      -0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.02,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "computer tower": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.86,
+      0.88,
+      -0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.29,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.82,
+      1.03,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.43,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.38,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      0.69,
+      -1.95
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.38,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "headphones": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.54,
+      0.46,
+      -0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.04,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.18,
+      1.05,
+      -1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.14,
+      0.13
+     ],
+     "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": 2.67
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      0.52,
+      -0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.03,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.45,
+      0.5,
+      -0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.02,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.6,
+      0.57,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.02,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      0.41,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.2,
+      0.19
+     ],
+     "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": 1.67
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.08,
+      0.22,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.3,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.63,
+      0.11,
+      -0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.22,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.72,
+      0.07,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.14,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.55,
+      0.04,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.19,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.07,
+      1.08,
+      -2.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.44,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.4,
+      0.55,
+      -0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.03,
+      1.16
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.46,
+      0.52,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.08,
+      0.43
+     ],
+     "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": 3.83
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      0.93,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.28,
+      0.26
+     ],
+     "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": 0.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.32,
+      0.18,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.26,
+      0.59
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      0.15,
+      -0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.29,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.5,
+      0.07,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.27,
+      0.41
+     ],
+     "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": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.52,
+      0.05,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.19,
+      0.83
+     ],
+     "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": 0.17
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      -0.52,
+      -1.94
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.88,
+      0.09
+     ],
+     "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": 4.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.86,
+      -1.78
+     ],
+     [
+      0.64,
+      -1.78
+     ],
+     [
+      0.64,
+      -1.68
+     ],
+     [
+      0.74,
+      -1.58
+     ],
+     [
+      1.04,
+      -1.58
+     ],
+     [
+      1.14,
+      -1.68
+     ],
+     [
+      1.14,
+      -1.78
+     ],
+     [
+      2.14,
+      -1.78
+     ],
+     [
+      2.14,
+      1.22
+     ],
+     [
+      2.04,
+      1.22
+     ],
+     [
+      1.94,
+      1.32
+     ],
+     [
+      0.94,
+      1.32
+     ],
+     [
+      0.84,
+      1.42
+     ],
+     [
+      0.84,
+      1.52
+     ],
+     [
+      -3.86,
+      1.52
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5ee7c22ba0.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5ee7c22ba0.json
new file mode 100644
index 0000000000000000000000000000000000000000..23f9f2a21e53df3de30e6ddb92796822fe408ab5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5ee7c22ba0.json	
@@ -0,0 +1,854 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      0.57,
+      1.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.43,
+      0.04,
+      0.37
+     ],
+     "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": 1.33
+   }
+  ],
+  "bucket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      1.14,
+      1.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.22,
+      0.5
+     ],
+     "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": 2.67
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.5,
+      -1.17,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.06,
+      1.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.99,
+      0.23,
+      1.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.3,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.32,
+       0.0
+      ],
+      [
+       0.32,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      1.02,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.27,
+      0.36
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.96,
+      0.52,
+      1.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.35,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.96,
+      0.81,
+      1.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.23,
+      0.25
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.03,
+      1.14,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.24,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.85,
+      0.4,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.59,
+      0.74,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.46,
+       0.0
+      ],
+      [
+       -0.46,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "headphones": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.54,
+      0.5,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.06,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.36,
+       0.0
+      ],
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.98,
+      0.22,
+      1.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.23,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.17,
+       0.0
+      ],
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.12,
+      0.36,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.31,
+      0.43,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      0.43,
+      1.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.24,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      0.72,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.97,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.27,
+       0.0
+      ],
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.18,
+      0.3,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.49,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      0.76,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      0.56,
+      0.42
+     ],
+     "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": 2.17
+   }
+  ],
+  "suitcase": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.63,
+      0.49,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.08,
+      0.09
+     ],
+     "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": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.61,
+      0.42,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.05,
+      0.09
+     ],
+     "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": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      0.57,
+      1.47
+     ],
+     "3D oriented bounding box dimensions": [
+      1.22,
+      0.03,
+      0.45
+     ],
+     "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": 1.0
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.35,
+      1.18,
+      1.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.29,
+      0.48
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.63,
+      0.49,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.09,
+      0.08
+     ],
+     "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": 1.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.7,
+      0.41,
+      1.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.57,
+      0.29
+     ],
+     "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": 4.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.42,
+      -1.39
+     ],
+     [
+      1.88,
+      -1.39
+     ],
+     [
+      1.88,
+      1.41
+     ],
+     [
+      -1.42,
+      1.41
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5f99900f09.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5f99900f09.json
new file mode 100644
index 0000000000000000000000000000000000000000..b08301305056834fcdd56664087d00f47756b1e8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/5f99900f09.json	
@@ -0,0 +1,2082 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.54,
+      -1.27,
+      -2.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.09,
+      1.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.87,
+      -1.23,
+      -0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.03,
+      1.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.53,
+      -1.28,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.07,
+      1.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.65,
+       0.0
+      ],
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.48,
+      -1.29,
+      -2.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.08,
+      1.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.31,
+      -1.27,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.08,
+      1.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.42,
+      -1.28,
+      -1.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.09,
+      1.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.3,
+      0.66,
+      -0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.9,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.24,
+      0.55,
+      -2.68
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.71,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.05,
+      0.6,
+      -0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      0.48,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.55,
+      0.75,
+      -3.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.24,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.09,
+      0.59,
+      -1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.41,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.52,
+       0.0
+      ],
+      [
+       0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.03,
+      0.61,
+      -2.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.44,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.07,
+      0.69,
+      -2.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.42,
+      0.56
+     ],
+     "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": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.26,
+      0.91,
+      -3.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.19,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.5,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.6,
+      0.6,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.37,
+      0.66
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.75,
+      1.17,
+      -3.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.36,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.75,
+      0.71,
+      -3.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.42,
+      0.72
+     ],
+     "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": 4.17
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.06,
+      0.79,
+      -3.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.12,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.99,
+      0.68,
+      -2.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.09,
+      0.44
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.59,
+      0.75,
+      -3.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.13,
+      0.27
+     ],
+     "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": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.93,
+      0.69,
+      -1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.18,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.96,
+      0.69,
+      -0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.25,
+      0.46
+     ],
+     "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": 3.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.89,
+      0.34,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      2.04,
+      0.88,
+      0.02
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.64,
+      0.62,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.08,
+      0.66,
+      0.04
+     ],
+     "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": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      -0.39,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.32,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      -0.36,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.34,
+      0.02
+     ],
+     "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": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.36,
+      0.39,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.98,
+      0.03,
+      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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      -0.38,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.35,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.61,
+      -0.06,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.38,
+      0.07
+     ],
+     "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": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.35,
+      0.92,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.38,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.39,
+      -0.4,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.39,
+      0.02
+     ],
+     "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": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.44,
+      0.89,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.33,
+      0.01
+     ],
+     "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": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      0.89,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.33,
+      0.01
+     ],
+     "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": 1.67
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.16,
+      0.87,
+      -1.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.12,
+      0.09
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.85,
+      -0.48,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.13,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.53,
+      0.17,
+      -3.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.02,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.11,
+      0.31,
+      -3.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.15,
+      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": 1.17
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.87,
+      -0.21,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.34,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.24,
+       0.0
+      ],
+      [
+       -0.24,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      -0.09,
+      -3.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.31,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.23,
+      0.09,
+      -3.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      1.6,
+      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": 0.0
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      0.72,
+      -3.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      1.11,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       -0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.93,
+      0.34,
+      -3.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.45,
+      0.58
+     ],
+     "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": 4.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.63,
+      0.48,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.53,
+      0.68,
+      0.51
+     ],
+     "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": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.66,
+      0.3,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      0.66,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.99,
+      0.62,
+      -0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.36,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.63,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "suitcase": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      1.13,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.18,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.25,
+      0.72,
+      -0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.85,
+      0.72
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.92,
+      0.78,
+      -3.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.7,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.22,
+      0.79,
+      -1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.37,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.85,
+      0.44,
+      -3.58
+     ],
+     "3D oriented bounding box dimensions": [
+      1.85,
+      0.07,
+      0.41
+     ],
+     "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": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.28,
+      0.47,
+      -2.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.04,
+      0.5
+     ],
+     "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": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.12,
+      0.84,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.38,
+      0.38
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.91,
+      0.42,
+      -3.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.04,
+      0.48
+     ],
+     "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": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.02,
+      0.4,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.05,
+      0.33
+     ],
+     "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": 3.5
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      1.0,
+      -3.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.26,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.43,
+      -0.09,
+      -3.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.31,
+      0.05
+     ],
+     "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": 4.83
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      -0.16,
+      -4.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.74,
+      0.95,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.47,
+      -0.03,
+      -2.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.02,
+      1.13
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.45,
+      -0.05,
+      -3.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.02,
+      1.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.65,
+      -1.39
+     ],
+     [
+      -1.55,
+      -1.39
+     ],
+     [
+      -1.45,
+      -1.49
+     ],
+     [
+      0.35,
+      -1.49
+     ],
+     [
+      0.45,
+      -1.59
+     ],
+     [
+      0.45,
+      -1.89
+     ],
+     [
+      7.55,
+      -1.89
+     ],
+     [
+      7.55,
+      1.11
+     ],
+     [
+      7.35,
+      1.11
+     ],
+     [
+      7.25,
+      1.21
+     ],
+     [
+      6.05,
+      1.21
+     ],
+     [
+      5.95,
+      1.31
+     ],
+     [
+      5.95,
+      1.41
+     ],
+     [
+      -2.65,
+      1.41
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/6115eddb86.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/6115eddb86.json
new file mode 100644
index 0000000000000000000000000000000000000000..928efed2976f566c7ec84218b23e503684fa12f4
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/6115eddb86.json	
@@ -0,0 +1,1564 @@
+{
+ "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": [
+      -0.23,
+      -1.27,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      1.77,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -3.04,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.78,
+      0.47,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      -1.05,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.5,
+      0.69,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.66,
+      -0.67,
+      1.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.24,
+      0.02
+     ],
+     "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": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.35,
+      -3.96,
+      1.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.0,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.42,
+       0.0
+      ],
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      0.68,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.58,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.5,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.73,
+      0.16,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.67,
+      0.41
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      0.65,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.27,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       0.67,
+       0.0
+      ],
+      [
+       -0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.91,
+      0.31,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.11,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.5,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.1,
+      -1.66,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.23,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.69,
+       0.0
+      ],
+      [
+       0.69,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.66,
+      0.15,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.53,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.78,
+      -1.29,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.16,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.87,
+      0.3,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.14,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.0,
+      -2.96,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.47,
+      0.39
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.98,
+      -2.71,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.63,
+      1.93
+     ],
+     "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": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      -2.61,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.02,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.63,
+       0.0
+      ],
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.78,
+      -3.86,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.05,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.62,
+       0.0
+      ],
+      [
+       -0.62,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      1.49,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.06,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       -0.58,
+       0.0
+      ],
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.8,
+      -1.94,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.21,
+      0.18
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.64,
+      -1.43,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.27,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       -0.67,
+       0.0
+      ],
+      [
+       0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.87,
+      0.3,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.15,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      -0.41,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.03,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.5,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.76,
+      0.39,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.1,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.62,
+       0.0
+      ],
+      [
+       -0.62,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      -0.06,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.27,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.64,
+      -0.55,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.4,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.39,
+      1.03,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      1.1,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.5,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      1.06,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      1.14,
+      0.11
+     ],
+     "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": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.0,
+      -0.83,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.39,
+      0.52
+     ],
+     "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": 0.0
+   }
+  ],
+  "table lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.47,
+      -0.47,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.16,
+      1.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.2,
+      -0.91,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.1,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.3,
+      1.33,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.15,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       0.7,
+       0.0
+      ],
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.35,
+      1.25,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.17,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.24,
+      -3.83,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.34,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.39,
+       0.0
+      ],
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      0.62,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.22,
+      0.24
+     ],
+     "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": 0.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      0.23,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.08,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      1.49,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.06,
+      0.12
+     ],
+     "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": 0.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.81,
+      -1.17
+     ],
+     [
+      -2.71,
+      -1.17
+     ],
+     [
+      -2.61,
+      -1.27
+     ],
+     [
+      -2.61,
+      -1.37
+     ],
+     [
+      -2.21,
+      -1.77
+     ],
+     [
+      -2.21,
+      -1.97
+     ],
+     [
+      -2.11,
+      -2.07
+     ],
+     [
+      -2.11,
+      -2.17
+     ],
+     [
+      -1.91,
+      -2.37
+     ],
+     [
+      -1.91,
+      -2.47
+     ],
+     [
+      -1.51,
+      -2.87
+     ],
+     [
+      -1.51,
+      -2.97
+     ],
+     [
+      -1.01,
+      -3.47
+     ],
+     [
+      -0.81,
+      -3.47
+     ],
+     [
+      -0.71,
+      -3.57
+     ],
+     [
+      -0.71,
+      -3.67
+     ],
+     [
+      -0.61,
+      -3.77
+     ],
+     [
+      -0.61,
+      -3.87
+     ],
+     [
+      -0.21,
+      -4.27
+     ],
+     [
+      -0.21,
+      -4.37
+     ],
+     [
+      1.89,
+      -4.37
+     ],
+     [
+      1.89,
+      -4.27
+     ],
+     [
+      2.29,
+      -3.87
+     ],
+     [
+      2.39,
+      -3.87
+     ],
+     [
+      2.49,
+      -3.77
+     ],
+     [
+      2.49,
+      -3.47
+     ],
+     [
+      2.59,
+      -3.37
+     ],
+     [
+      2.79,
+      -3.37
+     ],
+     [
+      3.09,
+      -3.07
+     ],
+     [
+      3.19,
+      -3.07
+     ],
+     [
+      3.39,
+      -2.87
+     ],
+     [
+      3.49,
+      -2.87
+     ],
+     [
+      3.49,
+      -2.27
+     ],
+     [
+      3.09,
+      -2.27
+     ],
+     [
+      2.99,
+      -2.17
+     ],
+     [
+      2.99,
+      -1.47
+     ],
+     [
+      2.79,
+      -1.27
+     ],
+     [
+      2.79,
+      -1.17
+     ],
+     [
+      2.39,
+      -0.77
+     ],
+     [
+      2.29,
+      -0.77
+     ],
+     [
+      2.19,
+      -0.67
+     ],
+     [
+      2.19,
+      -0.47
+     ],
+     [
+      1.99,
+      -0.27
+     ],
+     [
+      1.99,
+      -0.17
+     ],
+     [
+      1.69,
+      0.13
+     ],
+     [
+      1.59,
+      0.13
+     ],
+     [
+      1.29,
+      0.43
+     ],
+     [
+      1.29,
+      0.53
+     ],
+     [
+      1.09,
+      0.73
+     ],
+     [
+      1.09,
+      0.83
+     ],
+     [
+      0.99,
+      0.93
+     ],
+     [
+      0.99,
+      1.03
+     ],
+     [
+      0.79,
+      1.23
+     ],
+     [
+      0.79,
+      1.33
+     ],
+     [
+      0.39,
+      1.73
+     ],
+     [
+      0.39,
+      1.83
+     ],
+     [
+      -1.01,
+      1.83
+     ],
+     [
+      -1.01,
+      1.73
+     ],
+     [
+      -1.61,
+      1.13
+     ],
+     [
+      -1.81,
+      1.13
+     ],
+     [
+      -1.91,
+      1.03
+     ],
+     [
+      -1.91,
+      0.93
+     ],
+     [
+      -2.21,
+      0.63
+     ],
+     [
+      -2.31,
+      0.63
+     ],
+     [
+      -2.51,
+      0.43
+     ],
+     [
+      -2.61,
+      0.43
+     ],
+     [
+      -2.71,
+      0.33
+     ],
+     [
+      -2.81,
+      0.33
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/7831862f02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e580a494b30b8f34f289184eb70956f7ad81a43
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/compact/7831862f02.json	
@@ -0,0 +1,1993 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.25,
+      0.8,
+      1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      1.99,
+      0.5,
+      0.22
+     ],
+     "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": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.73,
+      2.47,
+      1.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.25,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.59,
+       0.0
+      ],
+      [
+       -0.59,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -7.8,
+      -4.86,
+      1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.09,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.71,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       -0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.54,
+      3.59,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.61,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.85,
+      1.39,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.99,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.29,
+       0.0
+      ],
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      0.64,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.64,
+      0.56
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.42,
+      1.88,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.64,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      -1.07,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.51,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.15,
+      1.16,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.51,
+      0.39
+     ],
+     "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": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.46,
+      -1.68,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.9,
+      0.45,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.29,
+      -4.75,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      2.28,
+      0.36,
+      0.84
+     ],
+     "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": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      -7.15,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.26,
+      0.64
+     ],
+     "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": 2.83
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.08,
+      0.72,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.36,
+      0.28
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      1.7,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.32,
+      0.02
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.78,
+      2.38,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.46,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.52,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       -0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.04,
+      1.86,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.71,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      0.56,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.36,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.34,
+       0.0
+      ],
+      [
+       -0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      2.12,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.38,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.75,
+      1.49,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.76,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.61,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      2.32,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.6,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.18,
+      0.7,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.43,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.61,
+      2.31,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.42,
+      0.02
+     ],
+     "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": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.84,
+      2.58,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.42,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.82,
+      0.36,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.54,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.49,
+      0.04,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.64,
+      0.02
+     ],
+     "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": 0.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.94,
+      2.58,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.04,
+      2.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       -0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      5.18,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.11,
+      1.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.61,
+      0.43,
+      1.9
+     ],
+     "3D oriented bounding box dimensions": [
+      2.87,
+      1.0,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.13,
+      1.7,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.34,
+      0.02
+     ],
+     "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": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.14,
+      1.92,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.31,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       0.0
+      ],
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.51,
+      0.03,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.4,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.71,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      0.5,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.53,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      0.32,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.48,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.55,
+      0.8,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.32,
+      0.38
+     ],
+     "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": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.74,
+      1.99,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.28,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -6.19,
+      -4.26,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      2.18,
+      0.88,
+      0.71
+     ],
+     "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": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.93,
+      -2.83,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      2.45,
+      0.63,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       0.69,
+       0.0
+      ],
+      [
+       -0.69,
+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.77,
+      -2.21,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      1.64,
+      0.2
+     ],
+     "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": 1.17
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.16,
+      1.19,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.89,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.6,
+       0.0
+      ],
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.67,
+      -0.92,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      2.88,
+      0.82,
+      1.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.36,
+      0.79
+     ],
+     [
+      -5.16,
+      0.79
+     ],
+     [
+      -5.06,
+      0.69
+     ],
+     [
+      -5.06,
+      0.19
+     ],
+     [
+      -4.96,
+      0.09
+     ],
+     [
+      -4.06,
+      0.09
+     ],
+     [
+      -4.06,
+      0.19
+     ],
+     [
+      -3.96,
+      0.29
+     ],
+     [
+      -3.96,
+      0.39
+     ],
+     [
+      -3.86,
+      0.49
+     ],
+     [
+      -3.56,
+      0.49
+     ],
+     [
+      -3.36,
+      0.29
+     ],
+     [
+      -3.36,
+      -0.31
+     ],
+     [
+      -3.26,
+      -0.41
+     ],
+     [
+      -3.26,
+      -0.61
+     ],
+     [
+      -2.96,
+      -0.61
+     ],
+     [
+      -2.86,
+      -0.71
+     ],
+     [
+      -2.86,
+      -0.91
+     ],
+     [
+      -2.96,
+      -1.01
+     ],
+     [
+      -3.16,
+      -1.01
+     ],
+     [
+      -3.16,
+      -1.41
+     ],
+     [
+      -3.26,
+      -1.51
+     ],
+     [
+      -3.26,
+      -2.31
+     ],
+     [
+      -3.16,
+      -2.41
+     ],
+     [
+      -1.66,
+      -2.41
+     ],
+     [
+      -1.56,
+      -2.51
+     ],
+     [
+      -1.56,
+      -3.01
+     ],
+     [
+      -1.16,
+      -3.01
+     ],
+     [
+      -1.16,
+      -2.91
+     ],
+     [
+      -1.06,
+      -2.81
+     ],
+     [
+      -0.86,
+      -2.81
+     ],
+     [
+      -0.76,
+      -2.91
+     ],
+     [
+      -0.76,
+      -3.11
+     ],
+     [
+      -0.36,
+      -3.11
+     ],
+     [
+      -0.16,
+      -2.91
+     ],
+     [
+      -0.06,
+      -2.91
+     ],
+     [
+      0.04,
+      -2.81
+     ],
+     [
+      0.24,
+      -2.81
+     ],
+     [
+      0.34,
+      -2.71
+     ],
+     [
+      0.44,
+      -2.71
+     ],
+     [
+      0.44,
+      -2.61
+     ],
+     [
+      0.54,
+      -2.51
+     ],
+     [
+      0.64,
+      -2.51
+     ],
+     [
+      0.74,
+      -2.41
+     ],
+     [
+      0.74,
+      -2.31
+     ],
+     [
+      3.74,
+      0.69
+     ],
+     [
+      3.74,
+      0.89
+     ],
+     [
+      3.94,
+      1.09
+     ],
+     [
+      4.04,
+      1.09
+     ],
+     [
+      4.04,
+      2.09
+     ],
+     [
+      3.94,
+      2.09
+     ],
+     [
+      3.84,
+      2.19
+     ],
+     [
+      3.74,
+      2.19
+     ],
+     [
+      2.54,
+      3.39
+     ],
+     [
+      2.54,
+      3.49
+     ],
+     [
+      2.34,
+      3.69
+     ],
+     [
+      2.24,
+      3.69
+     ],
+     [
+      0.84,
+      5.09
+     ],
+     [
+      0.84,
+      5.19
+     ],
+     [
+      0.24,
+      5.79
+     ],
+     [
+      -0.56,
+      5.79
+     ],
+     [
+      -0.66,
+      5.89
+     ],
+     [
+      -0.66,
+      6.19
+     ],
+     [
+      -1.46,
+      6.19
+     ],
+     [
+      -1.46,
+      6.09
+     ],
+     [
+      -1.56,
+      5.99
+     ],
+     [
+      -1.56,
+      5.89
+     ],
+     [
+      -1.66,
+      5.79
+     ],
+     [
+      -1.76,
+      5.79
+     ],
+     [
+      -2.06,
+      5.49
+     ],
+     [
+      -2.06,
+      5.39
+     ],
+     [
+      -2.16,
+      5.29
+     ],
+     [
+      -2.26,
+      5.29
+     ],
+     [
+      -2.86,
+      4.69
+     ],
+     [
+      -2.86,
+      4.59
+     ],
+     [
+      -4.16,
+      3.29
+     ],
+     [
+      -4.16,
+      3.19
+     ],
+     [
+      -4.26,
+      3.09
+     ],
+     [
+      -4.26,
+      2.69
+     ],
+     [
+      -4.16,
+      2.69
+     ],
+     [
+      -4.06,
+      2.59
+     ],
+     [
+      -4.06,
+      1.99
+     ],
+     [
+      -4.16,
+      1.89
+     ],
+     [
+      -4.16,
+      1.59
+     ],
+     [
+      -4.36,
+      1.39
+     ],
+     [
+      -4.46,
+      1.39
+     ],
+     [
+      -4.56,
+      1.29
+     ],
+     [
+      -5.26,
+      1.29
+     ],
+     [
+      -5.36,
+      1.19
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -7.46,
+      -4.51
+     ],
+     [
+      -7.06,
+      -4.51
+     ],
+     [
+      -6.96,
+      -4.61
+     ],
+     [
+      -6.96,
+      -5.51
+     ],
+     [
+      -6.66,
+      -5.51
+     ],
+     [
+      -6.56,
+      -5.61
+     ],
+     [
+      -6.56,
+      -5.81
+     ],
+     [
+      -6.16,
+      -5.81
+     ],
+     [
+      -6.06,
+      -5.71
+     ],
+     [
+      -5.86,
+      -5.71
+     ],
+     [
+      -5.76,
+      -5.61
+     ],
+     [
+      -5.66,
+      -5.61
+     ],
+     [
+      -5.56,
+      -5.51
+     ],
+     [
+      -5.46,
+      -5.51
+     ],
+     [
+      -5.46,
+      -5.41
+     ],
+     [
+      -5.36,
+      -5.31
+     ],
+     [
+      -5.16,
+      -5.31
+     ],
+     [
+      -5.06,
+      -5.21
+     ],
+     [
+      -4.96,
+      -5.21
+     ],
+     [
+      -4.96,
+      -5.11
+     ],
+     [
+      -4.46,
+      -4.61
+     ],
+     [
+      -4.36,
+      -4.61
+     ],
+     [
+      -4.36,
+      -4.51
+     ],
+     [
+      -4.16,
+      -4.31
+     ],
+     [
+      -4.16,
+      -3.91
+     ],
+     [
+      -4.26,
+      -3.81
+     ],
+     [
+      -4.26,
+      -3.71
+     ],
+     [
+      -4.56,
+      -3.71
+     ],
+     [
+      -4.66,
+      -3.61
+     ],
+     [
+      -4.66,
+      -3.31
+     ],
+     [
+      -4.56,
+      -3.21
+     ],
+     [
+      -4.56,
+      -2.81
+     ],
+     [
+      -4.46,
+      -2.71
+     ],
+     [
+      -3.76,
+      -2.71
+     ],
+     [
+      -3.76,
+      -2.11
+     ],
+     [
+      -3.86,
+      -2.01
+     ],
+     [
+      -4.16,
+      -2.01
+     ],
+     [
+      -4.26,
+      -1.91
+     ],
+     [
+      -4.66,
+      -1.91
+     ],
+     [
+      -4.76,
+      -2.01
+     ],
+     [
+      -4.86,
+      -2.01
+     ],
+     [
+      -4.96,
+      -2.11
+     ],
+     [
+      -4.96,
+      -2.21
+     ],
+     [
+      -5.16,
+      -2.41
+     ],
+     [
+      -5.46,
+      -2.41
+     ],
+     [
+      -5.46,
+      -2.51
+     ],
+     [
+      -5.66,
+      -2.71
+     ],
+     [
+      -5.96,
+      -2.71
+     ],
+     [
+      -5.96,
+      -2.91
+     ],
+     [
+      -6.36,
+      -3.31
+     ],
+     [
+      -6.76,
+      -3.31
+     ],
+     [
+      -7.06,
+      -3.61
+     ],
+     [
+      -7.16,
+      -3.61
+     ],
+     [
+      -7.16,
+      -3.81
+     ],
+     [
+      -7.26,
+      -3.91
+     ],
+     [
+      -7.36,
+      -3.91
+     ],
+     [
+      -7.36,
+      -4.01
+     ],
+     [
+      -7.46,
+      -4.11
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file