diff --git a/data/spatial codes/ground truth/compact/42899712.json b/data/spatial codes/ground truth/compact/42899712.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fc986827bc85ec9498ad9103ee8b2e93a5aac0f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899712.json	
@@ -0,0 +1,416 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.33,
+      3.14,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      2.41,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.12,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.32,
+      3.86,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.8,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.19,
+      4.02,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.73,
+      0.91
+     ],
+     "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": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      2.69,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      1.11,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.51,
+      -0.49,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.72,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.99,
+      2.81,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.03,
+      0.9,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.1,
+       0.02
+      ],
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.02,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.87,
+      1.12,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.47,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       -0.73,
+       0.0
+      ],
+      [
+       0.73,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.9,
+      0.43,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.47,
+      0.87
+     ],
+     "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": null
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.3,
+      -1.75,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.61,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.02,
+      -1.3
+     ],
+     [
+      5.81,
+      -1.3
+     ],
+     [
+      5.81,
+      4.48
+     ],
+     [
+      0.02,
+      4.48
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42899720.json b/data/spatial codes/ground truth/compact/42899720.json
new file mode 100644
index 0000000000000000000000000000000000000000..f832162160814185a49e18d0b997d0c76239c48a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899720.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.5,
+      -1.31,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      2.3,
+      1.63,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.4,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      1.04,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.37,
+      0.43
+     ],
+     "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": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.69,
+      -1.1
+     ],
+     [
+      2.82,
+      -1.1
+     ],
+     [
+      2.82,
+      2.41
+     ],
+     [
+      -0.69,
+      2.41
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42899725.json b/data/spatial codes/ground truth/compact/42899725.json
new file mode 100644
index 0000000000000000000000000000000000000000..15be34d0edbd7fc897b71fccc1c90f96e1aaabe5
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899725.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      -0.62,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.69,
+      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": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      0.03,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.38,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.08,
+       0.0
+      ],
+      [
+       -0.08,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.43,
+      -1.03
+     ],
+     [
+      1.04,
+      -1.03
+     ],
+     [
+      1.04,
+      1.44
+     ],
+     [
+      -1.43,
+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/42899729.json b/data/spatial codes/ground truth/compact/42899729.json
new file mode 100644
index 0000000000000000000000000000000000000000..b463ed1d3794d3858cd6853b675deb986b424cba
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/42899729.json	
@@ -0,0 +1,152 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      -0.34,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      2.1,
+      1.56,
+      0.69
+     ],
+     "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": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.43,
+      -3.44
+     ],
+     [
+      2.38,
+      -3.44
+     ],
+     [
+      2.38,
+      1.37
+     ],
+     [
+      -2.43,
+      1.37
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/44358436.json b/data/spatial codes/ground truth/compact/44358436.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbd782e27f22c79b0663c48acefa56632c7a2f3d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/44358436.json	
@@ -0,0 +1,350 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
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+       [
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+        [
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+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/44358442.json b/data/spatial codes/ground truth/compact/44358442.json
new file mode 100644
index 0000000000000000000000000000000000000000..379224d8f258201c24e225293058a771d04cecf1
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/44358442.json	
@@ -0,0 +1,252 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
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+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
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+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+       "components": [
+        [
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+         "height"
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+        [
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+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
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+ },
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+      -1.4,
+      0.41
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+      -1.47,
+      0.35
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/44358451.json b/data/spatial codes/ground truth/compact/44358451.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a68d53f09655d93df8585f99f8aac93cdfe8b7
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/44358451.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"
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+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
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+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+      "3D oriented bounding box orientation unit vectors": {
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+         "height"
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+        [
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+         "height"
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+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+      0.73,
+      0.42
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+     "3D oriented bounding box dimensions": [
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+      0.63,
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+       1.0
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+      0.47,
+      0.84
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+       0.75,
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+       0.0,
+       1.0
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+    "first visible time": null
+   }
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+ "room": {
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+      -1.81
+     ],
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+      -1.81
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+     [
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+      1.44
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+     [
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+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/44358499.json b/data/spatial codes/ground truth/compact/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..18e886970dc18ab2a172e63a57b3a0e5598eb394
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/44358499.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"
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+      "3D oriented bounding box dimensions": {
+       "components": [
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+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
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+         "height"
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+        [
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+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      3.39,
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+   }
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+    "first visible time": null
+   }
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+  "chair": [
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+      0.63,
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+     "3D oriented bounding box dimensions": [
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+      0.46,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.92,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.76,
+       0.0
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+       -0.65,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.18,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.76,
+       0.0
+      ],
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.56,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.78,
+       0.0
+      ],
+      [
+       0.78,
+       0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.37,
+      4.95,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.58,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.83,
+       0.0
+      ],
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+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.64,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.65,
+      0.91
+     ],
+     "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": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.56,
+      0.19
+     ],
+     [
+      1.0,
+      0.19
+     ],
+     [
+      1.0,
+      6.75
+     ],
+     [
+      -5.56,
+      6.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/44358518.json b/data/spatial codes/ground truth/compact/44358518.json
new file mode 100644
index 0000000000000000000000000000000000000000..748c8a822db9fc4b06434f6a9c1417da0ed56dfb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/44358518.json	
@@ -0,0 +1,416 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.44,
+      1.6,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      2.12,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.74,
+       0.68,
+       0.0
+      ],
+      [
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+       -0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.12,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      1.69,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.77,
+       0.0
+      ],
+      [
+       0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.96,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.57,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.73,
+       0.0
+      ],
+      [
+       0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.02,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.25,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.75,
+       0.0
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+       0.67,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.66,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.71,
+      1.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.46,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.48,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.46,
+       -0.89,
+       0.0
+      ],
+      [
+       0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.11,
+      3.28,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      1.58,
+      1.21
+     ],
+     "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": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.91,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.21,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.81,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.58,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.71,
+       0.7,
+       0.11
+      ],
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       -0.08,
+       -0.08,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.81,
+      -0.75
+     ],
+     [
+      1.33,
+      -0.75
+     ],
+     [
+      1.33,
+      4.39
+     ],
+     [
+      -3.81,
+      4.39
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/44358536.json b/data/spatial codes/ground truth/compact/44358536.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d6ba7e67143134d976402d86b73176085d71769
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/44358536.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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.63,
+      3.75,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      1.31,
+      1.36,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.62,
+      4.12,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.35,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      4.12,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.47,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.82,
+      -0.55
+     ],
+     [
+      -0.39,
+      -0.55
+     ],
+     [
+      -0.39,
+      2.88
+     ],
+     [
+      -3.82,
+      2.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/44358582.json b/data/spatial codes/ground truth/compact/44358582.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d377dab5cc3c7373e67a35f0048992aa8498c5
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/44358582.json	
@@ -0,0 +1,152 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.84,
+      -1.96,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      2.22,
+      1.73,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.93,
+      -4.09
+     ],
+     [
+      4.05,
+      -4.09
+     ],
+     [
+      4.05,
+      0.89
+     ],
+     [
+      -0.93,
+      0.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45260856.json b/data/spatial codes/ground truth/compact/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e0e89d679d07c9ac7d3a953a4bc1f1ba977d45a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45260856.json	
@@ -0,0 +1,316 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
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+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+      -1.54,
+      0.4
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+      1.45,
+      0.81
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.0
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   }
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+      -3.76,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.67,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0,
+       1.0
+      ]
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+      -3.83,
+      0.42
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+      0.66,
+      0.78
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
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+       0.4,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": null
+   },
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+      -2.81,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.53,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       1.0,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
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+      -0.15,
+      0.36
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+     "3D oriented bounding box dimensions": [
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+      0.5,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -4.42,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.53,
+      1.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -5.26
+     ],
+     [
+      -0.07,
+      -5.26
+     ],
+     [
+      -0.07,
+      -0.02
+     ],
+     [
+      -5.31,
+      -0.02
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45260905.json b/data/spatial codes/ground truth/compact/45260905.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3ce6c8bb95cecddbcab98499e3c75c0de34db30
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45260905.json	
@@ -0,0 +1,350 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      -2.35,
+      0.42
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+      2.46,
+      0.83
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+       0.0
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+       1.0
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+      0.89
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+       0.0,
+       1.0
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+      -3.35,
+      0.54
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+      0.78,
+      1.07
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+       0.0
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+       0.7,
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+       0.0,
+       1.0
+      ]
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+    "first visible time": null
+   }
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+      -2.04,
+      0.21
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+      0.9,
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+       0.0,
+       1.0
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+      -4.64,
+      0.41
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+      1.31,
+      0.76
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+       1.0,
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+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
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+      -4.61,
+      0.6
+     ],
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+      1.5,
+      1.2
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
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+      -4.63,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.57
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+       0.22,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
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+ },
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+      -5.36
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+     ],
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+      0.37
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+      -4.67,
+      0.37
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45260928.json b/data/spatial codes/ground truth/compact/45260928.json
new file mode 100644
index 0000000000000000000000000000000000000000..adc294c4406c893bdc6bcc07a76fdee7131c8d91
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45260928.json	
@@ -0,0 +1,386 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.39,
+      0.74,
+      0.46
+     ],
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+      0.56,
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+       0.0
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+       0.0,
+       1.0
+      ]
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+   },
+   {
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+      -2.77,
+      0.41
+     ],
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+      0.55,
+      0.81
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.0
+      ],
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+       -1.0,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+      0.34,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.17,
+      0.73
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
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+      ],
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+       -1.0,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -3.02,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.53,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
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+      ],
+      [
+       -0.04,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
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+      0.67,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.6,
+       0.0
+      ],
+      [
+       0.6,
+       -0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fireplace": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.48,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.51,
+      1.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       -1.0,
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
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+    "3D oriented bounding box": {
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+      -1.31,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
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+       1.0
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+    "first visible time": null
+   }
+  ],
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+      -1.85,
+      0.26
+     ],
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+       1.0
+      ]
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+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
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+      1.02,
+      -4.32
+     ],
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+     ],
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+      0.7
+     ],
+     [
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+      0.7
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45261121.json b/data/spatial codes/ground truth/compact/45261121.json
new file mode 100644
index 0000000000000000000000000000000000000000..52598ab1bfa67f8ec8d514a926365e0d6aa80724
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45261121.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": {
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      -0.07,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.25,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.71,
+       0.0
+      ],
+      [
+       0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.06,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.71,
+       0.0
+      ],
+      [
+       0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      0.3,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.71,
+       0.0
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+      [
+       0.71,
+       -0.7,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.88,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
+      1.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stove": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.22,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      1.0,
+      0.15
+     ],
+     "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": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      -2.15,
+      1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      0.94,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.74,
+       0.67,
+       -0.08
+      ],
+      [
+       -0.67,
+       -0.74,
+       0.0
+      ],
+      [
+       -0.06,
+       0.06,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.96,
+      -1.38,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.32,
+      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": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.02,
+      -3.25
+     ],
+     [
+      4.65,
+      -3.25
+     ],
+     [
+      4.65,
+      1.39
+     ],
+     [
+      0.02,
+      1.39
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45261142.json b/data/spatial codes/ground truth/compact/45261142.json
new file mode 100644
index 0000000000000000000000000000000000000000..814fcf7dd7a8b1d9257736ff74c76f940ad45134
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45261142.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": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      2.14,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      2.08,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.88,
+       0.0
+      ],
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+       -0.88,
+       -0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.5,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.71,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.43,
+       0.0
+      ],
+      [
+       0.43,
+       -0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washer": [
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+    "3D oriented bounding box": {
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+      3.55,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.6,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.31,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.01,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.34,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.13,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.79,
+       0.0
+      ],
+      [
+       0.79,
+       0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.17,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.47,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.52,
+      2.53,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.59,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.08,
+      2.62,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.53,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.14,
+      2.08,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.53,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.88,
+      4.44,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      1.12,
+      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": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.76,
+      0.35
+     ],
+     [
+      2.85,
+      0.35
+     ],
+     [
+      2.85,
+      4.97
+     ],
+     [
+      -1.76,
+      4.97
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45261150.json b/data/spatial codes/ground truth/compact/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e7d174de4bbbf2bdb1d623d83f18f9f2a9accc9
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45261150.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      2.64,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      2.05,
+      1.58,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      -0.41,
+      1.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      1.01,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.31,
+      0.01
+     ],
+     [
+      2.36,
+      0.01
+     ],
+     [
+      2.36,
+      4.68
+     ],
+     [
+      -2.31,
+      4.68
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45261182.json b/data/spatial codes/ground truth/compact/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..131723162b04c118ed7c4759a8df5cb392eeb60a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45261182.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.59,
+      -0.06,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.38,
+      0.78
+     ],
+     "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": null
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.43,
+      1.75,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      2.16,
+      1.69,
+      0.66
+     ],
+     "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": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.79,
+      -2.32
+     ],
+     [
+      2.47,
+      -2.32
+     ],
+     [
+      2.47,
+      0.94
+     ],
+     [
+      -0.79,
+      0.94
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45261575.json b/data/spatial codes/ground truth/compact/45261575.json
new file mode 100644
index 0000000000000000000000000000000000000000..2de6d5f9563b1332f7c99c58769422b3c554ed70
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45261575.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.09,
+      -1.65,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      2.0,
+      1.04,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.98,
+      0.21,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.73,
+      0.45
+     ],
+     "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": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.83,
+      -2.39
+     ],
+     [
+      -0.11,
+      -2.39
+     ],
+     [
+      -0.11,
+      1.32
+     ],
+     [
+      -3.83,
+      1.32
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/45261594.json b/data/spatial codes/ground truth/compact/45261594.json
new file mode 100644
index 0000000000000000000000000000000000000000..c227f81219951059ef048a15f5d740b0d6bb1722
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/45261594.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.23,
+      0.9,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.69,
+      0.58
+     ],
+     "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": null
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.59,
+      1.52,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.38,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       -0.99,
+       0.0
+      ],
+      [
+       0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.15,
+      -0.79
+     ],
+     [
+      0.18,
+      -0.79
+     ],
+     [
+      0.18,
+      1.53
+     ],
+     [
+      -2.15,
+      1.53
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47332886.json b/data/spatial codes/ground truth/compact/47332886.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba802ebc401b12de0b979b2ca4660418bc870a7
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47332886.json	
@@ -0,0 +1,318 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.84,
+      -0.44,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      2.1,
+      0.97,
+      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": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.15,
+      1.74,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      2.11,
+      0.98,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.75,
+      0.5,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      1.23,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.26,
+      0.79,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.39,
+      0.6
+     ],
+     "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": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.81,
+      0.44,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      0.43,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.0,
+      0.43,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      0.43,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       -0.02,
+       0.28
+      ],
+      [
+       0.02,
+       -1.0,
+       0.0
+      ],
+      [
+       0.28,
+       0.0,
+       0.96
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.17,
+      -1.73
+     ],
+     [
+      3.47,
+      -1.73
+     ],
+     [
+      3.47,
+      2.91
+     ],
+     [
+      -1.17,
+      2.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47332901.json b/data/spatial codes/ground truth/compact/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..0342ab6520bdfb0490a072d9ade4f311b4bf19dd
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47332901.json	
@@ -0,0 +1,252 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.7,
+      1.19,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.51,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      3.58,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.3,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
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+     [
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47333441.json b/data/spatial codes/ground truth/compact/47333441.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f2917ccbe19066042efe7bc0c57491ec2366e3c
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47333441.json	
@@ -0,0 +1,254 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
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+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
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+         "height"
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+        [
+         "x",
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+         "height"
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+        [
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+         "y",
+         "height"
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+     "first visible time": {
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+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
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+        "x",
+        "y"
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+       [
+        "x",
+        "y"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
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+         "y"
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+        [
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+         "y"
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+      "unit": "meters",
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+     }
+    }
+   ]
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+ },
+ "objects": {
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+      0.87,
+      0.37
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+     [
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+      0.04
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+      3.54
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+     ]
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47429992.json b/data/spatial codes/ground truth/compact/47429992.json
new file mode 100644
index 0000000000000000000000000000000000000000..3954a0044060225408d3f4c8503f46f29e942730
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47429992.json	
@@ -0,0 +1,252 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
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+         "height"
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+        [
+         "x",
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+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+   }
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+      4.19,
+      0.96
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+      0.45,
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+       1.0
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+    "first visible time": null
+   }
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+ },
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+      1.33
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+      5.37
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/47430023.json b/data/spatial codes/ground truth/compact/47430023.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e6e1c1ed4bd1625d3aecf5ab24c85bb64616b2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/47430023.json	
@@ -0,0 +1,478 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
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+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
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+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
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+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+      0.49
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+    "first visible time": null
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+      0.99,
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+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.47,
+      1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.83,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.62,
+       0.0
+      ],
+      [
+       0.62,
+       -0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.76,
+      -2.64
+     ],
+     [
+      2.38,
+      -2.64
+     ],
+     [
+      2.38,
+      2.5
+     ],
+     [
+      -2.76,
+      2.5
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/5748ce6f01.json b/data/spatial codes/ground truth/compact/5748ce6f01.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9f4b19d200559bab4f10ac49eddb60f3513a9d1
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/5748ce6f01.json	
@@ -0,0 +1,546 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+      0.38,
+      1.54
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+      3.83,
+      1.69
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+      0.63,
+      0.02
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+       0.15,
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+       0.99,
+       0.0
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+      2.48,
+      3.18
+     ],
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+      0.09,
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+       0.0
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+       0.0
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+   },
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+       1.0
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+       0.37,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      1.25,
+      1.36
+     ],
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+      2.71,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ],
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+       0.2,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      0.6,
+      1.37
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+      2.73,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+     "3D oriented bounding box center coordinates": [
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+      2.35,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.77,
+      1.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.56,
+      0.06
+     ],
+     [
+      4.49,
+      0.06
+     ],
+     [
+      4.49,
+      3.99
+     ],
+     [
+      0.56,
+      3.99
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/bde1e479ad.json b/data/spatial codes/ground truth/compact/bde1e479ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3b64b619e6d7014d77d1389719363c7757ebaac
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/bde1e479ad.json	
@@ -0,0 +1,2534 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
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+    "3D oriented bounding box": {
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+      7.49,
+      3.03
+     ],
+     "3D oriented bounding box dimensions": [
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+   },
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+      0.26
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+   },
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+   },
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+       0.13,
+       0.0
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+       0.0
+      ]
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+    "first visible time": null
+   },
+   {
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+      5.04,
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+     ],
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+      0.18,
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.14,
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+      ],
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+       0.0,
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+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      7.22,
+      3.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.15,
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+       0.99,
+       0.0
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+    "first visible time": null
+   },
+   {
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
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+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
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+      0.72,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.15,
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+       0.0,
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+       0.15,
+       -0.99,
+       0.0
+      ]
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+    },
+    "first visible time": null
+   },
+   {
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+      1.29,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07,
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+       1.0,
+       0.0
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+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      0.38
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
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+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "power strip": [
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+     "3D oriented bounding box center coordinates": [
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+      5.78,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.01,
+       1.0
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+    },
+    "first visible time": null
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      1.69,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+       -0.08,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.47,
+      0.7
+     ],
+     [
+      7.9,
+      0.7
+     ],
+     [
+      7.9,
+      8.13
+     ],
+     [
+      0.47,
+      8.13
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/c49a8c6cff.json b/data/spatial codes/ground truth/compact/c49a8c6cff.json
new file mode 100644
index 0000000000000000000000000000000000000000..b11308193d3e1ec9f9be695a5dd41a0d0cf08e04
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/c49a8c6cff.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": {
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      3.04,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.47,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.27,
+       -0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      2.98,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.42,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.25,
+       -0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.99,
+      1.28,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      2.06,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.29,
+       -0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.96,
+       -0.29,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.92,
+      2.59,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      2.25,
+      1.03,
+      1.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       0.23,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      2.44,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      1.24,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.35,
+       -0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.42,
+      3.35,
+      1.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.4,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.96,
+       -0.26,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.7,
+      3.17,
+      1.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.27,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "headphones": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.17,
+      2.5,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.24,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.21,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.74,
+      2.79,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      1.28,
+      0.8,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.24,
+       0.97,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      2.61,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.16,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.59,
+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.81,
+       -0.59,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      2.75,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.04,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.43,
+       -0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      2.83,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.19,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.22,
+       0.01
+      ],
+      [
+       -0.22,
+       0.97,
+       0.07
+      ],
+      [
+       0.01,
+       -0.07,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      2.86,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.32,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       -0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.82,
+       0.57,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      2.08,
+      2.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.09,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.17,
+       0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "shoes": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      0.64,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.17,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.65,
+      1.06,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.16,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.94,
+       -0.34,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      1.31,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.22,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       -0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.97,
+       -0.23,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.38,
+      1.84,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.33,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.07
+      ],
+      [
+       -0.19,
+       0.98,
+       0.06
+      ],
+      [
+       -0.06,
+       -0.07,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.8,
+      1.74,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.12,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.49,
+       0.87,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.37,
+      0.39
+     ],
+     [
+      3.61,
+      0.39
+     ],
+     [
+      3.61,
+      3.63
+     ],
+     [
+      0.37,
+      3.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/c4c04e6d6c.json b/data/spatial codes/ground truth/compact/c4c04e6d6c.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8d0c0c5e64d4995f8dfb7aaf84b78268dd86374
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/c4c04e6d6c.json	
@@ -0,0 +1,1404 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.74,
+      7.3,
+      1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.2,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.16,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      7.97,
+      0.18,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      2.01,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.13,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.8,
+      0.12,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      2.01,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      7.23,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      2.02,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.0,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.31,
+      2.98,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.55,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.05,
+       0.27
+      ],
+      [
+       -0.27,
+       0.0,
+       0.96
+      ],
+      [
+       0.05,
+       -1.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      6.32,
+      3.56,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      0.37,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       -0.2,
+       0.81
+      ],
+      [
+       -0.83,
+       0.09,
+       -0.55
+      ],
+      [
+       0.04,
+       -0.97,
+       -0.22
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.21,
+      3.66,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.34,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.02,
+       0.76
+      ],
+      [
+       -0.76,
+       0.05,
+       -0.65
+      ],
+      [
+       -0.05,
+       -1.0,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.61,
+      6.12,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.48,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.17,
+       -0.81
+      ],
+      [
+       0.75,
+       0.3,
+       0.59
+      ],
+      [
+       0.34,
+       -0.94,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/c50d2d1d42.json b/data/spatial codes/ground truth/compact/c50d2d1d42.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec1a298d28966ed63da34f9d23cccc849e0be73
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/c50d2d1d42.json	
@@ -0,0 +1,1104 @@
+{
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+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.82,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       -0.72,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.77,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.88,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       0.88,
+       0.47,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.86,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.98,
+       -0.21,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.06,
+      3.0,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       -0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       0.17,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer tower": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.07,
+      1.66,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.19,
+       0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.52,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.44,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.93,
+       -0.36,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.64,
+      2.69,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.5,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       -0.26,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.96,
+      1.62,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.12,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.37,
+       0.93,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.46,
+      2.19,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.5,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.2,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.91,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.55,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.31,
+       -0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.88,
+      1.97,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.6,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.11,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.0,
+      2.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.74,
+       -0.67,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.23,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.27,
+       -0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.57,
+      2.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.37,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.79,
+       -0.61,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "headphones": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.71,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.08,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.2,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.66,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.11,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       0.2,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.31,
+      2.92
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.97,
+       -0.22,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.97,
+      2.92
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.16,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.16,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.91
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.14,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.87,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.09,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.55,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.04,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.04,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.62,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.07,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.17,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.23,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.95,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.05,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.92,
+      1.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.25,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.16,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.56,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.12,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       -0.12,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.6,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.21,
+       0.01
+      ],
+      [
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+       -0.98,
+       -0.04
+      ],
+      [
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+       0.04,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer mouse": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.62,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.6,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.98,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       0.19,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "coat hanger": [
+   {
+    "3D oriented bounding box": {
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+      0.79,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.09,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.17,
+       0.02
+      ],
+      [
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+       -0.9,
+       0.4
+      ],
+      [
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+       -0.4,
+       -0.92
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
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+    "outer boundary coordinates": [
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+      0.1
+     ],
+     [
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+      0.1
+     ],
+     [
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+      4.34
+     ],
+     [
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+      4.34
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/c5439f4607.json b/data/spatial codes/ground truth/compact/c5439f4607.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb0fed6b260ba17453545b3d8aeaa6c21e13d4cb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/c5439f4607.json	
@@ -0,0 +1,414 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.08,
+      1.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.91,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.02,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       1.0,
+       0.0
+      ]
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+    "first visible time": null
+   }
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+      2.83,
+      0.53
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+     "3D oriented bounding box dimensions": [
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+      1.05,
+      0.59
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+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       0.01,
+       0.0
+      ]
+     ]
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+    "first visible time": null
+   },
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+      2.36,
+      0.43
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+     "3D oriented bounding box dimensions": [
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+      0.85,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       -0.88,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      2.46,
+      0.48
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+     "3D oriented bounding box dimensions": [
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+      0.95,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.57,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       0.57,
+       0.82,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
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+  "exhaust fan": [
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+      1.85,
+      3.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      1.71,
+      3.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.77,
+      3.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.12,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.98,
+       -0.18,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.27,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.43,
+       0.9,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.3,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.26,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.05,
+      -0.65
+     ],
+     [
+      5.94,
+      -0.65
+     ],
+     [
+      5.94,
+      4.25
+     ],
+     [
+      1.05,
+      4.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/cc5237fd77.json b/data/spatial codes/ground truth/compact/cc5237fd77.json
new file mode 100644
index 0000000000000000000000000000000000000000..15617050fee0979d5f075e1f5d25a4e61534b41d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/cc5237fd77.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": {
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.8,
+      1.76,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.66,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
+      [
+       0.96,
+       -0.29,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      3.14,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.64,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.76,
+       0.65,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      3.48,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.6,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.32,
+       -0.09
+      ],
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+       -0.07,
+       0.99
+      ],
+      [
+       0.31,
+       0.94,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.91,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      2.05,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.95,
+       0.32,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.32,
+       0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.55,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.03,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.29,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ],
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+       -0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      2.52,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.89,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
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+       -0.64,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      1.98,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.87,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ],
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+       -0.35,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bookshelf": [
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+      0.68,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.03,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.33,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.23,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.6,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.95,
+       -0.32,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "computer tower": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.03,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.95,
+       0.3,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.67,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.53,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.38,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ],
+      [
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+       -0.93,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "suitcase": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.72,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.28,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.34,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.23,
+       -0.05
+      ],
+      [
+       -0.23,
+       -0.97,
+       -0.02
+      ],
+      [
+       -0.05,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.26,
+      2.12,
+      2.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.52,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ],
+      [
+       -0.52,
+       -0.85,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.52,
+      2.36,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.95,
+       -0.01
+      ],
+      [
+       0.95,
+       -0.31,
+       0.07
+      ],
+      [
+       -0.06,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      0.55,
+      0.34
+     ],
+     [
+      3.92,
+      0.34
+     ],
+     [
+      3.92,
+      3.71
+     ],
+     [
+      0.55,
+      3.71
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/d755b3d9d8.json b/data/spatial codes/ground truth/compact/d755b3d9d8.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed0c579fc3cd2b7c764562827b8da00395cf17ad
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/d755b3d9d8.json	
@@ -0,0 +1,1044 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      2.25,
+      2.65,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.1,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       -0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.78,
+       0.63,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.28,
+      2.95,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      1.01,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.56,
+       -0.83,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.95,
+      1.4,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      1.12,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       -0.13,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.14,
+      1.79,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      1.99,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.02,
+      0.72,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      0.82,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.07,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.33,
+      3.23,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      1.27,
+      0.77,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.05,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.56,
+      3.3,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.76,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      1.89,
+      2.64
+     ],
+     "3D oriented bounding box dimensions": [
+      2.98,
+      0.16,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.06,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.99,
+      2.02,
+      2.71
+     ],
+     "3D oriented bounding box dimensions": [
+      2.98,
+      0.18,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       1.0,
+       0.02
+      ],
+      [
+       -1.0,
+       -0.04,
+       -0.06
+      ],
+      [
+       -0.06,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.95,
+      0.55,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.54,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.2,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.36,
+      3.47,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.47,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.02,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.48,
+      3.42,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.5,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.17,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.5,
+      1.01,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.04,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.98,
+       -0.22,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.64,
+      3.21,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.04,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.71,
+       -0.71,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.82,
+      3.26,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.03,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.17,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.51,
+      0.82,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.1,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.92,
+       -0.39,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.42,
+      2.89,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.31,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.44,
+      3.34,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.27,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.66,
+      2.12,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.96,
+      0.52,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "shoes": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.6,
+      1.87,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.12,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.66,
+       -0.76,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.83,
+      1.21,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.13,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.06,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.63,
+      2.19,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      1.13,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.9,
+       0.2,
+       -0.38
+      ],
+      [
+       0.14,
+       -0.71,
+       -0.69
+      ],
+      [
+       -0.41,
+       -0.67,
+       0.62
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.8,
+      2.59,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.16,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       0.12,
+       0.74
+      ],
+      [
+       -0.75,
+       -0.2,
+       -0.64
+      ],
+      [
+       0.07,
+       -0.97,
+       0.22
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.66,
+      3.54,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.3,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.81,
+       0.59,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.28,
+      3.56,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
+      1.28,
+      0.96,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.05,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 12.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.35,
+      3.32,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.05,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.04,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 13.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.45,
+      3.42,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.18,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.01
+      ],
+      [
+       -0.08,
+       0.98,
+       0.16
+      ],
+      [
+       0.0,
+       -0.16,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 13.0
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.94,
+      3.05,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.07,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 14.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.56,
+      -0.14
+     ],
+     [
+      4.68,
+      -0.14
+     ],
+     [
+      4.68,
+      3.98
+     ],
+     [
+      0.56,
+      3.98
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/e398684d27.json b/data/spatial codes/ground truth/compact/e398684d27.json
new file mode 100644
index 0000000000000000000000000000000000000000..a22d039a7aa98f0be61c64358d0cb03064e60cc5
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/e398684d27.json	
@@ -0,0 +1,220 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.78,
+      1.36,
+      3.49
+     ],
+     "3D oriented bounding box dimensions": [
+      1.28,
+      0.1,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.04,
+       0.01
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -0.01,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      0.75,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      2.1,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.12,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      2.21,
+      2.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.43,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.08,
+       -0.17
+      ],
+      [
+       -0.17,
+       -0.09,
+       -0.98
+      ],
+      [
+       -0.09,
+       0.99,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.35,
+      -0.09
+     ],
+     [
+      3.23,
+      -0.09
+     ],
+     [
+      3.23,
+      2.79
+     ],
+     [
+      0.35,
+      2.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/e7af285f7d.json b/data/spatial codes/ground truth/compact/e7af285f7d.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b51d929b41c1e06b472de9a9dd73a7f1508d646
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/e7af285f7d.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": {
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.59,
+      0.45,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      2.07,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.3,
+       -0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.44,
+      0.88,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      2.2,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.21,
+       0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.31,
+      0.81,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      1.16,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       -0.38,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.38,
+       0.93,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.4,
+      0.04
+     ],
+     [
+      5.19,
+      0.04
+     ],
+     [
+      5.19,
+      3.84
+     ],
+     [
+      1.4,
+      3.84
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/f2dc06b1d2.json b/data/spatial codes/ground truth/compact/f2dc06b1d2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e007b5006de19d8be582de7d898f64314b768f83
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/f2dc06b1d2.json	
@@ -0,0 +1,220 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.42,
+      0.97,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.91,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.44,
+      0.1,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.95,
+      2.12,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.08,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.07,
+      1.06,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.72,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.08,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.08,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.57,
+      -0.16
+     ],
+     [
+      3.1,
+      -0.16
+     ],
+     [
+      3.1,
+      2.37
+     ],
+     [
+      0.57,
+      2.37
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/f3685d06a9.json b/data/spatial codes/ground truth/compact/f3685d06a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..4937f4e7f44b8912867f0f9d75ab52554404d46c
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/f3685d06a9.json	
@@ -0,0 +1,282 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.37,
+      0.68,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.35,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.28,
+       -0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.75,
+      1.69,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.43,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       -0.17,
+       0.64
+      ],
+      [
+       0.04,
+       0.98,
+       0.2
+      ],
+      [
+       -0.66,
+       -0.13,
+       0.74
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      2.67,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      2.13,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.22,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.84,
+      1.46,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      1.98,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.2,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      1.17,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      1.98,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.43,
+       -0.9,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.27,
+      0.22
+     ],
+     [
+      2.77,
+      0.22
+     ],
+     [
+      2.77,
+      2.72
+     ],
+     [
+      0.27,
+      2.72
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/f9f95681fd.json b/data/spatial codes/ground truth/compact/f9f95681fd.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d383b36f2c2fe87513382891b7f5ac50e582724
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/f9f95681fd.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": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      0.96,
+      2.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.27,
+      0.1,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.34,
+       0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.5,
+      0.39,
+      2.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.04,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.63,
+       -0.78,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      1.6,
+      2.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.02,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.21,
+      0.69,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      2.11,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.93,
+       0.37,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.08,
+      0.14,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      2.28,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.38,
+      1.67,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.34,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.36,
+       -0.93,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.3,
+      2.06,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.14,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.07,
+       0.5
+      ],
+      [
+       -0.36,
+       0.62,
+       0.7
+      ],
+      [
+       -0.36,
+       -0.78,
+       0.51
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.99,
+      0.57,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.08,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.9,
+      0.79,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.24,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.39,
+       -0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.92,
+       0.39,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.2,
+      0.04
+     ],
+     [
+      2.08,
+      0.04
+     ],
+     [
+      2.08,
+      1.91
+     ],
+     [
+      0.2,
+      1.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0025_01.json b/data/spatial codes/ground truth/compact/scene0025_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4520ac60466e1b531bb72feb8aa828de30d4bf2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0025_01.json	
@@ -0,0 +1,714 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      -1.34,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.63,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.63,
+       -0.54,
+       0.56
+      ],
+      [
+       0.69,
+       0.72,
+       -0.09
+      ],
+      [
+       -0.36,
+       0.44,
+       0.83
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      0.72,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.64,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       0.0,
+       -1.0
+      ],
+      [
+       -0.93,
+       0.38,
+       -0.04
+      ],
+      [
+       0.38,
+       0.93,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.53,
+      -0.91,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.81,
+      1.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.03,
+       1.0
+      ],
+      [
+       -0.17,
+       -0.98,
+       -0.03
+      ],
+      [
+       0.98,
+       -0.17,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.43,
+      1.52,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.39,
+      0.8,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.02
+      ],
+      [
+       0.15,
+       0.99,
+       0.03
+      ],
+      [
+       -0.02,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.02,
+      0.74,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.84,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       -0.04,
+       -1.0
+      ],
+      [
+       -0.41,
+       -0.91,
+       0.07
+      ],
+      [
+       -0.91,
+       0.41,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.67,
+      -0.71,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      2.28,
+      0.77,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       -0.97,
+       -0.01
+      ],
+      [
+       -0.13,
+       0.04,
+       -0.99
+      ],
+      [
+       0.96,
+       -0.24,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.49,
+      0.48,
+      2.74
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      1.1,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -0.01,
+       -1.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.98,
+       -0.17,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.82,
+      1.6,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.59,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       -0.1
+      ],
+      [
+       -0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.02,
+       0.1,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      -0.4,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.68,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.05,
+       -1.0
+      ],
+      [
+       0.97,
+       -0.23,
+       -0.02
+      ],
+      [
+       -0.23,
+       -0.97,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.35,
+      0.24,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.33,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.21,
+       0.0
+      ],
+      [
+       0.21,
+       0.97,
+       -0.07
+      ],
+      [
+       -0.02,
+       -0.07,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.58,
+      -0.67,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.51,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.56,
+       0.83,
+       0.03
+      ],
+      [
+       -0.06,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      0.04,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.69,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.08,
+       0.18,
+       -0.98
+      ],
+      [
+       -0.99,
+       0.12,
+       0.1
+      ],
+      [
+       0.14,
+       0.98,
+       0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.91,
+      0.33,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.21,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.14,
+       0.01
+      ],
+      [
+       0.14,
+       0.99,
+       -0.01
+      ],
+      [
+       -0.01,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.64,
+      -0.46,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.28,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -0.02,
+       -1.0
+      ],
+      [
+       -0.8,
+       -0.59,
+       -0.03
+      ],
+      [
+       -0.59,
+       0.8,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.64,
+      0.01,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.22,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       -0.75,
+       0.43
+      ],
+      [
+       -0.8,
+       -0.6,
+       -0.09
+      ],
+      [
+       0.32,
+       -0.3,
+       -0.9
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.35,
+      0.45,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      2.13,
+      1.08,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       0.05,
+       -1.0
+      ],
+      [
+       0.18,
+       0.98,
+       0.07
+      ],
+      [
+       0.98,
+       -0.18,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      0.32,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      2.92,
+      1.03,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       0.33,
+       0.01
+      ],
+      [
+       -0.32,
+       -0.93,
+       0.18
+      ],
+      [
+       0.07,
+       0.16,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.18,
+      -0.75,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      1.39,
+      2.06,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.4,
+       0.81,
+       0.42
+      ],
+      [
+       -0.91,
+       0.42,
+       0.06
+      ],
+      [
+       -0.13,
+       -0.41,
+       0.9
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.88,
+      -2.06
+     ],
+     [
+      2.31,
+      -2.06
+     ],
+     [
+      2.31,
+      2.13
+     ],
+     [
+      -1.88,
+      2.13
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0030_02.json b/data/spatial codes/ground truth/compact/scene0030_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b0b5f5c1594304174a081bad2c56c6a5731c23e
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0030_02.json	
@@ -0,0 +1,1252 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.1,
+      -1.6,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.32,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       -0.6,
+       0.56
+      ],
+      [
+       0.43,
+       0.37,
+       0.83
+      ],
+      [
+       -0.71,
+       0.71,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.2,
+      -0.52,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.54,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       -0.55,
+       0.56
+      ],
+      [
+       0.68,
+       -0.73,
+       0.04
+      ],
+      [
+       0.39,
+       0.4,
+       0.83
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.03,
+      1.68,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.39,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       -0.74,
+       -0.08
+      ],
+      [
+       -0.05,
+       -0.06,
+       1.0
+      ],
+      [
+       -0.74,
+       0.67,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      1.18,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.78,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.65,
+       -0.14
+      ],
+      [
+       0.2,
+       0.03,
+       -0.98
+      ],
+      [
+       -0.64,
+       -0.76,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      0.62,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.49,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       0.57,
+       0.15
+      ],
+      [
+       -0.07,
+       -0.16,
+       0.99
+      ],
+      [
+       0.59,
+       -0.8,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      0.36,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.52,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.4,
+       -0.37,
+       -0.84
+      ],
+      [
+       -0.76,
+       0.64,
+       0.08
+      ],
+      [
+       0.51,
+       0.67,
+       -0.54
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.89,
+      0.09,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.59,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.02,
+       -0.99
+      ],
+      [
+       0.69,
+       0.72,
+       0.09
+      ],
+      [
+       0.72,
+       -0.69,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.31,
+      0.59,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.72,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       0.0,
+       -0.98
+      ],
+      [
+       -0.98,
+       0.06,
+       0.2
+      ],
+      [
+       0.06,
+       1.0,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      1.71,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.26,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.35,
+       -0.22,
+       -0.91
+      ],
+      [
+       0.25,
+       -0.96,
+       0.13
+      ],
+      [
+       -0.9,
+       -0.19,
+       0.39
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      2.27,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.37,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.24,
+       0.96
+      ],
+      [
+       0.93,
+       -0.35,
+       -0.07
+      ],
+      [
+       0.32,
+       0.91,
+       -0.28
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.72,
+      0.85,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.82,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.71,
+       -0.01
+      ],
+      [
+       -0.67,
+       0.66,
+       0.35
+      ],
+      [
+       0.25,
+       -0.24,
+       0.94
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.03,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.48
+     ],
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+       0.04,
+       1.0
+      ],
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+       0.8,
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+      ],
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+       0.6,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.71,
+      -0.72,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.03
+      ],
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+       -0.01,
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+      ],
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+       0.03,
+       -0.96
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
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+      1.79,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.5,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.11,
+       0.97
+      ],
+      [
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+       -0.78,
+       0.04
+      ],
+      [
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+       -0.62,
+       -0.23
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
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+      1.37,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.68,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.03,
+       1.0
+      ],
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+       0.31,
+       0.0
+      ],
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+       0.95,
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+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.43,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.57,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.76,
+       0.03
+      ],
+      [
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+       -0.47,
+       -0.66
+      ],
+      [
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+       -0.45,
+       0.75
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
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+      3.18,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.63,
+       0.57
+      ],
+      [
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+       0.51,
+       -0.82
+      ],
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+       0.58,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.97,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+      ],
+      [
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+       0.01,
+       1.0
+      ]
+     ]
+    },
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+   },
+   {
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+      -1.76,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.76,
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+      ],
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+      ],
+      [
+       0.04,
+       -0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
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+      -0.28,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.6,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.77,
+       -0.09
+      ],
+      [
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+       0.11,
+       -0.99
+      ],
+      [
+       0.78,
+       -0.62,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.16,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.18,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.64,
+       -0.01
+      ],
+      [
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+       0.01,
+       -1.0
+      ],
+      [
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+       -0.77,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.34,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.06,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
+       -1.0
+      ],
+      [
+       -0.75,
+       0.66,
+       0.03
+      ],
+      [
+       0.67,
+       0.75,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.92,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.07,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.68,
+       -0.01
+      ],
+      [
+       0.06,
+       0.08,
+       -0.99
+      ],
+      [
+       0.67,
+       0.73,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.31,
+      -2.62,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      2.04,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.03,
+       0.03,
+       -1.0
+      ],
+      [
+       -0.71,
+       -0.7,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.86,
+      0.24,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.92,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.78,
+       -0.01
+      ],
+      [
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+       -0.12,
+       0.98
+      ],
+      [
+       0.77,
+       -0.61,
+       -0.2
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.51,
+      -3.28,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      2.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.57,
+       -0.02
+      ],
+      [
+       0.57,
+       0.82,
+       0.04
+      ],
+      [
+       0.0,
+       -0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.89,
+      2.42,
+      2.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.37,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.44,
+       -0.57
+      ],
+      [
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+       0.8
+      ],
+      [
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+       0.76,
+       -0.18
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.23,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.5,
+       0.01
+      ],
+      [
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+       0.74,
+       -0.52
+      ],
+      [
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+       -0.46,
+       -0.85
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.67,
+      -1.01,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.69,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.66,
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+      ],
+      [
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+       -0.01,
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+      ],
+      [
+       0.66,
+       0.75,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.15,
+      1.09,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      3.72,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.76,
+       0.0
+      ],
+      [
+       0.76,
+       -0.65,
+       -0.01
+      ],
+      [
+       0.0,
+       0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.98,
+      -0.13,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      1.91,
+      0.23,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.73,
+       0.68,
+       -0.01
+      ],
+      [
+       -0.09,
+       -0.12,
+       -0.99
+      ],
+      [
+       -0.68,
+       -0.72,
+       0.15
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.8,
+      -0.62,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      1.64,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.79,
+       0.61,
+       -0.05
+      ],
+      [
+       0.54,
+       0.74,
+       0.39
+      ],
+      [
+       0.27,
+       0.29,
+       -0.92
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.91,
+      -1.68,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      1.58,
+      0.67,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       -0.76,
+       0.0
+      ],
+      [
+       -0.03,
+       0.03,
+       1.0
+      ],
+      [
+       -0.76,
+       0.65,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      -1.49,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      0.85,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.66,
+       -0.64,
+       -0.4
+      ],
+      [
+       -0.7,
+       -0.72,
+       0.0
+      ],
+      [
+       -0.29,
+       0.28,
+       -0.92
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.93,
+      1.72,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.76,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       -0.75,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.04,
+       -1.0
+      ],
+      [
+       0.75,
+       -0.66,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.61,
+      -2.67
+     ],
+     [
+      3.15,
+      -2.67
+     ],
+     [
+      3.15,
+      3.09
+     ],
+     [
+      -2.61,
+      3.09
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0046_01.json b/data/spatial codes/ground truth/compact/scene0046_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..264156ae09ad9d4809e2abaab042aef931ecd175
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0046_01.json	
@@ -0,0 +1,556 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      0.73,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      2.47,
+      1.38,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       -0.17,
+       0.01
+      ],
+      [
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+       -0.99,
+       -0.02
+      ],
+      [
+       0.01,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.46,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.64,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.12,
+       -0.99
+      ],
+      [
+       -0.96,
+       -0.24,
+       0.12
+      ],
+      [
+       -0.25,
+       0.96,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.35,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.25,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.3,
+       0.95,
+       0.03
+      ],
+      [
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+       0.3,
+       0.05
+      ],
+      [
+       0.03,
+       0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.14,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.49,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.05,
+       -1.0
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+       0.97,
+       0.04
+      ],
+      [
+       0.97,
+       0.23,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.66,
+      0.94,
+      1.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.13,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.61,
+       0.78,
+       0.14
+      ],
+      [
+       -0.79,
+       0.61,
+       0.01
+      ],
+      [
+       -0.08,
+       -0.11,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.91,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.56,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       0.1,
+       -0.99
+      ],
+      [
+       0.11,
+       -0.99,
+       -0.09
+      ],
+      [
+       -0.99,
+       -0.11,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.75,
+      -0.68,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.41,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       0.15,
+       -0.65
+      ],
+      [
+       0.2,
+       -0.98,
+       0.01
+      ],
+      [
+       -0.64,
+       -0.14,
+       -0.76
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.9,
+      0.35,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.29,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07,
+       -0.86,
+       -0.51
+      ],
+      [
+       0.85,
+       -0.31,
+       0.42
+      ],
+      [
+       -0.52,
+       -0.41,
+       0.75
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.57,
+      1.5,
+      1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.7,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.13,
+       0.07
+      ],
+      [
+       -0.05,
+       -0.15,
+       -0.99
+      ],
+      [
+       0.14,
+       -0.98,
+       0.14
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.79,
+      1.29,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.22,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.04,
+       1.0
+      ],
+      [
+       -0.84,
+       0.54,
+       0.03
+      ],
+      [
+       -0.54,
+       -0.84,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.75,
+      -0.23,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
+      1.99,
+      0.9,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       0.0,
+       -1.0
+      ],
+      [
+       0.11,
+       -0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      0.48,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      2.05,
+      0.68,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.05,
+       -1.0
+      ],
+      [
+       0.0,
+       1.0,
+       -0.05
+      ],
+      [
+       1.0,
+       0.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      -1.14,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.45,
+      0.62,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.01
+      ],
+      [
+       0.13,
+       -0.99,
+       -0.05
+      ],
+      [
+       0.0,
+       0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.87,
+      -1.93
+     ],
+     [
+      2.03,
+      -1.93
+     ],
+     [
+      2.03,
+      1.97
+     ],
+     [
+      -1.87,
+      1.97
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0050_01.json b/data/spatial codes/ground truth/compact/scene0050_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..37ef93165affacaebd05b2b376c5cce1eb4c159d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0050_01.json	
@@ -0,0 +1,582 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -0.16,
+      1.24,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.59,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.71,
+       -0.71,
+       0.01
+      ],
+      [
+       0.7,
+       -0.7,
+       0.17
+      ],
+      [
+       -0.11,
+       0.13,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      0.28,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      1.25,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.06,
+       -0.02
+      ],
+      [
+       0.06,
+       0.98,
+       -0.2
+      ],
+      [
+       0.04,
+       0.2,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.35,
+      0.6,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      2.05,
+      1.01,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       -0.04
+      ],
+      [
+       -1.0,
+       0.0,
+       0.04
+      ],
+      [
+       0.04,
+       0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      1.58,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.18,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       0.05,
+       0.36
+      ],
+      [
+       0.17,
+       -0.81,
+       0.55
+      ],
+      [
+       0.32,
+       0.58,
+       0.75
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.52,
+      1.32,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.33,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.15,
+       0.16
+      ],
+      [
+       -0.16,
+       0.01,
+       -0.99
+      ],
+      [
+       0.14,
+       -0.99,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.52,
+      1.32,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.33,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.15,
+       0.16
+      ],
+      [
+       -0.16,
+       0.01,
+       -0.99
+      ],
+      [
+       0.14,
+       -0.99,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.5,
+      -0.44,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.44,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.64,
+       -0.77,
+       0.01
+      ],
+      [
+       -0.76,
+       -0.63,
+       -0.12
+      ],
+      [
+       0.1,
+       0.07,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.23,
+      0.19,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.48,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       -0.09
+      ],
+      [
+       -0.02,
+       -0.99,
+       -0.17
+      ],
+      [
+       -0.09,
+       0.17,
+       -0.98
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "piano": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      -1.82,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      1.45,
+      1.04,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.07,
+       0.02
+      ],
+      [
+       0.02,
+       0.03,
+       1.0
+      ],
+      [
+       -0.07,
+       1.0,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      1.78,
+      1.2
+     ],
+     "3D oriented bounding box dimensions": [
+      1.82,
+      0.43,
+      2.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.05,
+       0.04
+      ],
+      [
+       -0.05,
+       1.0,
+       0.02
+      ],
+      [
+       -0.04,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.35,
+      -1.98,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      1.69,
+      2.16,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.11,
+       0.01
+      ],
+      [
+       0.02,
+       -0.03,
+       1.0
+      ],
+      [
+       -0.1,
+       0.99,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.83,
+      0.53,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.99,
+      0.74,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       0.01,
+       -1.0
+      ],
+      [
+       -0.04,
+       -1.0,
+       -0.01
+      ],
+      [
+       -1.0,
+       0.04,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.0,
+      -0.41,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      2.06,
+      0.8,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       -0.01,
+       0.99
+      ],
+      [
+       -0.21,
+       0.98,
+       -0.02
+      ],
+      [
+       -0.97,
+       -0.21,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      1.33,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      1.56,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.11,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.8,
+      -2.04
+     ],
+     [
+      2.05,
+      -2.04
+     ],
+     [
+      2.05,
+      1.8
+     ],
+     [
+      -1.8,
+      1.8
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0077_01.json b/data/spatial codes/ground truth/compact/scene0077_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..f67242ab1a5fbdec18616ba7b39c524245b45f1c
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0077_01.json	
@@ -0,0 +1,546 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.77,
+      -0.34,
+      1.93
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.27,
+      1.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -0.02,
+       1.0
+      ],
+      [
+       -0.99,
+       -0.12,
+       -0.07
+      ],
+      [
+       0.12,
+       -0.99,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      0.29,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      2.52,
+      0.32,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       -0.99,
+       0.02
+      ],
+      [
+       -0.1,
+       0.0,
+       1.0
+      ],
+      [
+       -0.98,
+       -0.16,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.06,
+      -0.83,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.56,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       -0.07
+      ],
+      [
+       0.98,
+       0.19,
+       0.03
+      ],
+      [
+       0.04,
+       -0.07,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.44,
+      -0.53,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.68,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       -0.06
+      ],
+      [
+       0.97,
+       0.25,
+       0.05
+      ],
+      [
+       0.06,
+       -0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      0.22,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.22,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       0.98,
+       0.03
+      ],
+      [
+       -0.96,
+       -0.2,
+       0.21
+      ],
+      [
+       0.22,
+       0.01,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.06,
+      -0.83,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.56,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       -0.07
+      ],
+      [
+       0.98,
+       0.19,
+       0.03
+      ],
+      [
+       0.04,
+       -0.07,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.44,
+      -0.53,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.68,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       -0.06
+      ],
+      [
+       0.97,
+       0.25,
+       0.05
+      ],
+      [
+       0.06,
+       -0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      0.22,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.22,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       0.98,
+       0.03
+      ],
+      [
+       -0.96,
+       -0.2,
+       0.21
+      ],
+      [
+       0.22,
+       0.01,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.12,
+      -0.42,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.36,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.04
+      ],
+      [
+       0.03,
+       0.04,
+       -1.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.04,
+      0.68,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      1.07,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.22,
+       -0.02
+      ],
+      [
+       0.06,
+       -0.15,
+       -0.99
+      ],
+      [
+       0.21,
+       -0.96,
+       0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.14,
+      0.7,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      1.33,
+      1.18,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.99,
+       -0.13,
+       -0.02
+      ],
+      [
+       -0.13,
+       0.99,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.54,
+      -2.14,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      1.14,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.53,
+       -0.85,
+       0.03
+      ],
+      [
+       0.02,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.85,
+       0.53,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.04,
+      -0.91,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.72,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.2,
+       -0.04
+      ],
+      [
+       -0.07,
+       0.17,
+       0.98
+      ],
+      [
+       -0.19,
+       0.96,
+       -0.18
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.98,
+      -2.38
+     ],
+     [
+      1.34,
+      -2.38
+     ],
+     [
+      1.34,
+      0.94
+     ],
+     [
+      -1.98,
+      0.94
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0081_02.json b/data/spatial codes/ground truth/compact/scene0081_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c5cc303caa3faabd8dc727e225e1bd2f24b8692
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0081_02.json	
@@ -0,0 +1,1210 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -0.08,
+      -1.93,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.66,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -1.0,
+       0.05
+      ],
+      [
+       0.81,
+       0.0,
+       0.59
+      ],
+      [
+       -0.58,
+       0.07,
+       0.81
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.41,
+      2.74,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.66,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.06,
+       1.0
+      ],
+      [
+       0.82,
+       0.57,
+       -0.03
+      ],
+      [
+       -0.57,
+       0.82,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.12,
+      -2.53,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.51,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.82,
+       0.01,
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+    },
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+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
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+      -2.65
+     ],
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+     [
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0088_01.json b/data/spatial codes/ground truth/compact/scene0088_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..70c3178cae619acb1e235ebf396838e183f3de1c
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0088_01.json	
@@ -0,0 +1,896 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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,
+      0.67,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.57,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.07
+      ],
+      [
+       -0.06,
+       0.08,
+       -0.99
+      ],
+      [
+       -0.98,
+       0.18,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.16,
+      -1.56,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.36,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.62,
+       0.78,
+       -0.03
+      ],
+      [
+       0.62,
+       -0.52,
+       -0.59
+      ],
+      [
+       -0.47,
+       0.35,
+       -0.81
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      1.39,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.71,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.3,
+       -0.03
+      ],
+      [
+       -0.19,
+       0.68,
+       0.71
+      ],
+      [
+       0.24,
+       -0.67,
+       0.7
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.58,
+      1.73,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.31,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.5,
+       0.48,
+       0.72
+      ],
+      [
+       -0.64,
+       0.37,
+       -0.68
+      ],
+      [
+       -0.59,
+       -0.8,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      2.55,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.72,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       0.7,
+       0.01
+      ],
+      [
+       -0.43,
+       0.42,
+       0.8
+      ],
+      [
+       0.55,
+       -0.58,
+       0.6
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.67,
+      2.83,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.55,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.31,
+       0.71
+      ],
+      [
+       -0.55,
+       -0.82,
+       -0.13
+      ],
+      [
+       0.54,
+       -0.47,
+       0.7
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.27,
+      2.64,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.37,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.21,
+       0.97
+      ],
+      [
+       -0.84,
+       -0.54,
+       0.04
+      ],
+      [
+       0.54,
+       -0.81,
+       0.22
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.19,
+      1.64,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.35,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.36,
+       0.6,
+       0.71
+      ],
+      [
+       -0.26,
+       0.67,
+       -0.7
+      ],
+      [
+       -0.9,
+       -0.44,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.1,
+      0.55,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.65,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.01,
+       0.34
+      ],
+      [
+       -0.34,
+       0.13,
+       0.93
+      ],
+      [
+       -0.06,
+       -0.99,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      -0.61,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.56,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       -0.2,
+       0.98
+      ],
+      [
+       -0.97,
+       0.22,
+       -0.02
+      ],
+      [
+       -0.21,
+       -0.95,
+       -0.21
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.61,
+      -0.88,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.61,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.38,
+       0.62,
+       -0.69
+      ],
+      [
+       -0.9,
+       0.42,
+       -0.12
+      ],
+      [
+       0.21,
+       0.67,
+       0.71
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      -0.87,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.5,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.41,
+       -0.58,
+       0.7
+      ],
+      [
+       0.75,
+       0.65,
+       0.1
+      ],
+      [
+       -0.51,
+       0.49,
+       0.71
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.49,
+      0.08,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.15,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.02
+      ],
+      [
+       -0.95,
+       -0.01,
+       0.32
+      ],
+      [
+       0.32,
+       -0.01,
+       0.95
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.83,
+      0.67,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.61,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.16,
+       -0.88
+      ],
+      [
+       -0.42,
+       -0.91,
+       0.04
+      ],
+      [
+       -0.8,
+       0.38,
+       0.46
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.82,
+      1.49,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.16,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.39,
+       -0.02,
+       0.92
+      ],
+      [
+       -0.9,
+       -0.24,
+       0.37
+      ],
+      [
+       0.21,
+       -0.97,
+       -0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.91,
+      -0.09,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.73,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       -1.0,
+       0.01
+      ],
+      [
+       0.71,
+       0.04,
+       -0.7
+      ],
+      [
+       0.7,
+       0.05,
+       0.72
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.33,
+      -0.11,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.49,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.48,
+       -0.11
+      ],
+      [
+       0.13,
+       0.0,
+       0.99
+      ],
+      [
+       -0.48,
+       -0.88,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.73,
+      -0.04,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.3,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.21,
+       0.75
+      ],
+      [
+       -0.65,
+       0.38,
+       -0.66
+      ],
+      [
+       -0.42,
+       -0.9,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.36,
+      2.87,
+      1.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      1.37,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.37,
+       -0.91
+      ],
+      [
+       -0.33,
+       -0.85,
+       -0.41
+      ],
+      [
+       -0.92,
+       0.38,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.62,
+      -1.06,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.71,
+      1.37,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.07,
+       1.0
+      ],
+      [
+       -0.36,
+       -0.93,
+       -0.06
+      ],
+      [
+       0.93,
+       -0.36,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      -1.72,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.28,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       0.01,
+       -1.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.03
+      ],
+      [
+       0.04,
+       1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.92,
+      -0.31,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      1.48,
+      0.28,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       -0.13,
+       0.99
+      ],
+      [
+       0.97,
+       -0.23,
+       -0.09
+      ],
+      [
+       0.24,
+       0.96,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.74,
+      0.73,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      1.29,
+      3.11,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.41,
+       0.01
+      ],
+      [
+       0.41,
+       0.91,
+       0.02
+      ],
+      [
+       -0.02,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.57,
+      1.21,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.42,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.41,
+       -0.49,
+       -0.77
+      ],
+      [
+       0.53,
+       0.81,
+       -0.24
+      ],
+      [
+       0.75,
+       -0.31,
+       0.59
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.84,
+      -1.66
+     ],
+     [
+      2.49,
+      -1.66
+     ],
+     [
+      2.49,
+      2.67
+     ],
+     [
+      -1.84,
+      2.67
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0095_01.json b/data/spatial codes/ground truth/compact/scene0095_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5502bbdb6af63f5b5ba8bbb5ca34b876a1bd849c
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0095_01.json	
@@ -0,0 +1,1088 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      2.15,
+      -1.17,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.46,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.26,
+       -0.61
+      ],
+      [
+       -0.29,
+       -0.96,
+       -0.06
+      ],
+      [
+       -0.6,
+       0.13,
+       0.79
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.29,
+      -0.61,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.63,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       -0.96,
+       -0.01
+      ],
+      [
+       0.71,
+       -0.22,
+       0.67
+      ],
+      [
+       -0.64,
+       0.18,
+       0.74
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      -0.83,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.53,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       0.67,
+       -0.75
+      ],
+      [
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+     ],
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+     ],
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+       -0.06,
+       -1.0
+      ]
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+    },
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+      0.19,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.43
+     ],
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+       0.25,
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+      ],
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+       0.08,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+      -0.22,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
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+       0.17,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      -1.08,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.16,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.38,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.38,
+       -0.61
+      ],
+      [
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+       0.06,
+       0.73
+      ],
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+       -0.92,
+       0.3
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.57,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.27,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       -0.91,
+       0.07
+      ],
+      [
+       0.91,
+       -0.42,
+       -0.01
+      ],
+      [
+       0.03,
+       0.06,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.36,
+      -2.24,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.69,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.03,
+       1.0
+      ],
+      [
+       -0.99,
+       0.16,
+       -0.02
+      ],
+      [
+       -0.16,
+       -0.99,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.01,
+      -0.35,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      4.37,
+      0.75,
+      1.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.08
+      ],
+      [
+       0.07,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.25,
+       0.97,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.56,
+      -2.65
+     ],
+     [
+      2.41,
+      -2.65
+     ],
+     [
+      2.41,
+      2.32
+     ],
+     [
+      -2.56,
+      2.32
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0100_00.json b/data/spatial codes/ground truth/compact/scene0100_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..574f5281b09db9c8dad87b8ee1b7efaee46d0a42
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0100_00.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": {
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.27,
+      0.12,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.27,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       -0.94,
+       -0.08
+      ],
+      [
+       0.03,
+       0.07,
+       -1.0
+      ],
+      [
+       0.94,
+       -0.33,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.91,
+      1.12,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      0.2,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.34,
+       0.94,
+       -0.09
+      ],
+      [
+       0.06,
+       -0.12,
+       -0.99
+      ],
+      [
+       -0.94,
+       0.33,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.81,
+      -0.65,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.19,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       0.04,
+       1.0
+      ],
+      [
+       0.55,
+       0.83,
+       -0.07
+      ],
+      [
+       -0.83,
+       0.56,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      0.61,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.73,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.31,
+       0.95,
+       -0.01
+      ],
+      [
+       0.03,
+       0.0,
+       1.0
+      ],
+      [
+       0.95,
+       -0.31,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.3,
+      -1.03
+     ],
+     [
+      1.03,
+      -1.03
+     ],
+     [
+      1.03,
+      1.3
+     ],
+     [
+      -1.3,
+      1.3
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0144_00.json b/data/spatial codes/ground truth/compact/scene0144_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb8fb0f907c020b2d72293e6834703350436827b
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0144_00.json	
@@ -0,0 +1,520 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -0.82,
+      0.86,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      2.25,
+      1.0,
+      1.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       0.98,
+       0.19
+      ],
+      [
+       -0.19,
+       0.2,
+       -0.96
+      ],
+      [
+       -0.98,
+       0.03,
+       0.2
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      0.74,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.75,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       0.25,
+       0.01
+      ],
+      [
+       0.01,
+       0.09,
+       -1.0
+      ],
+      [
+       -0.25,
+       -0.96,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.63,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.46,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.05,
+       0.76,
+       -0.65
+      ],
+      [
+       0.08,
+       -0.64,
+       -0.76
+      ],
+      [
+       -1.0,
+       -0.09,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      -1.4,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      1.02,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.12,
+       0.03
+      ],
+      [
+       0.07,
+       -0.36,
+       0.93
+      ],
+      [
+       -0.1,
+       0.92,
+       0.37
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.56,
+      0.51,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      2.01,
+      1.06,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -1.0,
+       -0.06
+      ],
+      [
+       0.09,
+       0.06,
+       -0.99
+      ],
+      [
+       1.0,
+       0.01,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.71,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.27,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.01
+      ],
+      [
+       0.03,
+       1.0,
+       -0.05
+      ],
+      [
+       -0.01,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.51,
+      1.58,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.31,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       -0.19,
+       -0.98
+      ],
+      [
+       0.75,
+       0.64,
+       -0.16
+      ],
+      [
+       0.65,
+       -0.75,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.03,
+      -0.51,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.47,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       -0.39,
+       0.7
+      ],
+      [
+       -0.32,
+       0.92,
+       0.23
+      ],
+      [
+       -0.73,
+       -0.08,
+       -0.68
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.03,
+      -0.51,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.47,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       -0.39,
+       0.7
+      ],
+      [
+       -0.32,
+       0.92,
+       0.23
+      ],
+      [
+       -0.73,
+       -0.08,
+       -0.68
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.15,
+      -0.47,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.78,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       -1.0,
+       0.02
+      ],
+      [
+       -0.06,
+       -0.02,
+       -1.0
+      ],
+      [
+       1.0,
+       -0.05,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      -1.53,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.9,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.01,
+       1.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.01
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      1.41,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      1.65,
+      0.74,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.08,
+       -0.03
+      ],
+      [
+       0.03,
+       0.06,
+       -1.0
+      ],
+      [
+       -0.08,
+       -0.99,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.7,
+      -2.14
+     ],
+     [
+      1.9,
+      -2.14
+     ],
+     [
+      1.9,
+      1.46
+     ],
+     [
+      -1.7,
+      1.46
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0146_01.json b/data/spatial codes/ground truth/compact/scene0146_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d2f95898240a1bf668f98d2b8a2597025919e92
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0146_01.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": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.38,
+      -0.64,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.58,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.88,
+       0.13
+      ],
+      [
+       0.17,
+       -0.23,
+       0.96
+      ],
+      [
+       0.87,
+       -0.42,
+       -0.25
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      0.93,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.37,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.79,
+       0.11,
+       0.6
+      ],
+      [
+       -0.6,
+       0.05,
+       -0.8
+      ],
+      [
+       -0.12,
+       -0.99,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.31,
+      -0.51,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.27,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.0,
+       -1.0
+      ],
+      [
+       0.98,
+       -0.21,
+       0.02
+      ],
+      [
+       -0.21,
+       -0.98,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.56,
+      -0.29,
+      1.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.49,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       -0.17,
+       -0.98
+      ],
+      [
+       -0.26,
+       -0.95,
+       0.19
+      ],
+      [
+       -0.96,
+       0.28,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.06,
+      -1.15
+     ],
+     [
+      1.25,
+      -1.15
+     ],
+     [
+      1.25,
+      1.16
+     ],
+     [
+      -1.06,
+      1.16
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0149_00.json b/data/spatial codes/ground truth/compact/scene0149_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fd5f92fda20a54f1899e2f8e5fa280c12ec1ebb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0149_00.json	
@@ -0,0 +1,388 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.34,
+      1.0,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.25,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.01
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.03
+      ],
+      [
+       0.03,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      0.78,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      1.08,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.92,
+       -0.38,
+       0.08
+      ],
+      [
+       -0.07,
+       -0.05,
+       -1.0
+      ],
+      [
+       0.38,
+       -0.93,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.71,
+      -0.06,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      1.81,
+      2.66,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.4,
+       0.92,
+       0.03
+      ],
+      [
+       0.92,
+       0.4,
+       -0.05
+      ],
+      [
+       -0.06,
+       0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.65,
+      -1.5,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      1.36,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.51,
+       0.84,
+       -0.16
+      ],
+      [
+       -0.86,
+       -0.51,
+       0.05
+      ],
+      [
+       -0.04,
+       0.17,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.31,
+      -0.86,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      1.59,
+      1.03,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.04,
+       -1.0
+      ],
+      [
+       0.3,
+       0.95,
+       -0.03
+      ],
+      [
+       0.95,
+       -0.3,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.61,
+      -1.45,
+      1.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.12,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.9,
+       -0.44,
+       -0.01
+      ],
+      [
+       -0.44,
+       0.9,
+       0.02
+      ],
+      [
+       0.0,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.42,
+      1.1,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.42,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       -0.49,
+       -0.84
+      ],
+      [
+       -0.86,
+       -0.51,
+       0.07
+      ],
+      [
+       -0.46,
+       0.71,
+       -0.53
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.06,
+      0.97,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.68,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       -0.95,
+       -0.02
+      ],
+      [
+       0.94,
+       0.32,
+       0.08
+      ],
+      [
+       -0.07,
+       -0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.69,
+      -1.75
+     ],
+     [
+      1.56,
+      -1.75
+     ],
+     [
+      1.56,
+      1.5
+     ],
+     [
+      -1.69,
+      1.5
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0153_00.json b/data/spatial codes/ground truth/compact/scene0153_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..738facb4ba1c9ce5ed1849778483743cad91996f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0153_00.json	
@@ -0,0 +1,284 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.14,
+      -1.15,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.37,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.06,
+       -1.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      0.23,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.62,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.09,
+       0.04
+      ],
+      [
+       -0.04,
+       -0.01,
+       -1.0
+      ],
+      [
+       0.09,
+       -1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.18,
+      0.6,
+      1.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.34,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.02,
+       -0.01
+      ],
+      [
+       -0.02,
+       -0.17,
+       0.99
+      ],
+      [
+       0.02,
+       0.99,
+       0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.05,
+      -0.84,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.46,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       0.06,
+       1.0
+      ],
+      [
+       0.05,
+       1.0,
+       -0.06
+      ],
+      [
+       -1.0,
+       0.05,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      -0.71,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      1.35,
+      0.99,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.02,
+       1.0
+      ],
+      [
+       0.01,
+       -1.0,
+       -0.02
+      ],
+      [
+       1.0,
+       0.01,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.05,
+      -1.02
+     ],
+     [
+      1.01,
+      -1.02
+     ],
+     [
+      1.01,
+      1.04
+     ],
+     [
+      -1.05,
+      1.04
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0164_02.json b/data/spatial codes/ground truth/compact/scene0164_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4ceeda1865935d1664fd2e42bf550c992b4b9d7
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0164_02.json	
@@ -0,0 +1,322 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.33,
+      0.39,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      2.48,
+      2.86,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.64,
+       -0.77,
+       0.04
+      ],
+      [
+       0.77,
+       0.64,
+       0.01
+      ],
+      [
+       -0.03,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.59,
+      -0.59,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      1.55,
+      1.05,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.04,
+       -1.0
+      ],
+      [
+       -0.98,
+       0.21,
+       -0.02
+      ],
+      [
+       0.21,
+       0.98,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.34,
+      0.68,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.47,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.62,
+       -0.78,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.0,
+       -1.0
+      ],
+      [
+       0.78,
+       0.62,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.56,
+      -1.72,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.38,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       -0.43,
+       0.88
+      ],
+      [
+       -0.97,
+       -0.24,
+       0.1
+      ],
+      [
+       0.17,
+       -0.87,
+       -0.46
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      1.8,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.36,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.5,
+       -0.87,
+       -0.02
+      ],
+      [
+       0.86,
+       0.5,
+       0.1
+      ],
+      [
+       -0.08,
+       -0.07,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      -1.56,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      1.69,
+      0.97,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       -0.16,
+       0.98
+      ],
+      [
+       0.76,
+       0.62,
+       0.18
+      ],
+      [
+       -0.64,
+       0.76,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.67,
+      -1.43
+     ],
+     [
+      1.24,
+      -1.43
+     ],
+     [
+      1.24,
+      1.48
+     ],
+     [
+      -1.67,
+      1.48
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0169_01.json b/data/spatial codes/ground truth/compact/scene0169_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..31443b8cac422b4117b4363bf3b3b18a979ec333
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0169_01.json	
@@ -0,0 +1,1026 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -2.09,
+      -1.1,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.49,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.5,
+       -0.05
+      ],
+      [
+       -0.5,
+       -0.86,
+       -0.02
+      ],
+      [
+       -0.04,
+       0.04,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.87,
+      -0.95,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.82,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       -0.99,
+       -0.1
+      ],
+      [
+       0.05,
+       -0.1,
+       0.99
+      ],
+      [
+       -1.0,
+       0.07,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+     "3D oriented bounding box orientation unit vectors": [
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+     "3D oriented bounding box orientation unit vectors": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.26,
+       0.94
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+    "first visible time": null
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+      -1.56,
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+     "3D oriented bounding box dimensions": [
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+      0.35,
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+       0.77,
+       0.31
+      ]
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+    },
+    "first visible time": null
+   },
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+    "3D oriented bounding box": {
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+      -1.39,
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+     "3D oriented bounding box dimensions": [
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+       -0.09
+      ]
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+      0.78,
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+      ]
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+   },
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+      -0.61,
+      0.6
+     ],
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+      0.71,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.52,
+       -0.12
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+       0.02,
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+       -0.1
+      ]
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+    "first visible time": null
+   },
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+      0.71,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.84,
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+      ]
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+    "first visible time": null
+   },
+   {
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+      1.23,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.62,
+      0.37
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.64,
+       -0.11
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+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      1.09,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.1,
+       -0.99
+      ],
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+       -0.81,
+       0.07
+      ],
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+       0.58,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      0.18,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.9,
+       0.04
+      ],
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+       0.23,
+       0.89
+      ],
+      [
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+       -0.36,
+       0.46
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.25,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.5,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.82,
+       0.53
+      ],
+      [
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+       0.23,
+       -0.03
+      ],
+      [
+       -0.1,
+       -0.52,
+       -0.85
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.87,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.54,
+       0.0
+      ],
+      [
+       0.54,
+       0.84,
+       0.03
+      ],
+      [
+       -0.01,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.23,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.85,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.02,
+       -1.0
+      ],
+      [
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+       -0.87,
+       0.02
+      ],
+      [
+       -0.87,
+       0.49,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.26,
+      1.1,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.25,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.35,
+       0.55,
+       0.76
+      ],
+      [
+       0.93,
+       -0.3,
+       -0.21
+      ],
+      [
+       0.12,
+       0.78,
+       -0.61
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.55,
+      0.09,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.67,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.46,
+       -0.89,
+       -0.03
+      ],
+      [
+       -0.89,
+       0.46,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.25,
+      0.92,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      1.3,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.35,
+       -0.94,
+       0.0
+      ],
+      [
+       0.04,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.94,
+       -0.35,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      -0.15,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      3.26,
+      0.8,
+      1.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.8,
+       0.6,
+       -0.01
+      ],
+      [
+       0.04,
+       0.04,
+       -1.0
+      ],
+      [
+       -0.6,
+       -0.8,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.92,
+      -3.15
+     ],
+     [
+      2.71,
+      -3.15
+     ],
+     [
+      2.71,
+      2.48
+     ],
+     [
+      -2.92,
+      2.48
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0193_01.json b/data/spatial codes/ground truth/compact/scene0193_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..3692c230b62ee8b97bd9a1fda618302751d9e58c
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0193_01.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.66,
+      -0.93,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      2.29,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.03,
+       0.03
+      ],
+      [
+       -0.03,
+       1.0,
+       -0.01
+      ],
+      [
+       -0.03,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      0.71,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.94,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.13,
+       0.01
+      ],
+      [
+       0.03,
+       0.11,
+       -0.99
+      ],
+      [
+       0.13,
+       0.99,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      0.37,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.87,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.98,
+       0.03
+      ],
+      [
+       -0.08,
+       0.01,
+       -1.0
+      ],
+      [
+       -0.98,
+       -0.17,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.29,
+      1.65,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      2.04,
+      1.07,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.03,
+       -1.0
+      ],
+      [
+       -0.94,
+       0.33,
+       0.01
+      ],
+      [
+       0.33,
+       0.94,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.14,
+      1.32,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      1.27,
+      1.57,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.89,
+       0.46,
+       -0.03
+      ],
+      [
+       0.0,
+       0.07,
+       1.0
+      ],
+      [
+       0.46,
+       0.89,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.88,
+      -1.53
+     ],
+     [
+      1.13,
+      -1.53
+     ],
+     [
+      1.13,
+      1.47
+     ],
+     [
+      -1.88,
+      1.47
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0196_00.json b/data/spatial codes/ground truth/compact/scene0196_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..17f45cc1a2d9ee394ff720175e3d3618f38bdc72
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0196_00.json	
@@ -0,0 +1,1120 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -0.2,
+      -2.26,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.51,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.14,
+       -0.17,
+       0.98
+      ],
+      [
+       0.36,
+       0.93,
+       0.11
+      ],
+      [
+       -0.92,
+       0.33,
+       0.19
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      -1.6,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.68,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.61,
+       -0.65,
+       -0.45
+      ],
+      [
+       0.72,
+       -0.7,
+       0.03
+      ],
+      [
+       -0.33,
+       -0.3,
+       0.89
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      -0.11,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.6,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.18,
+       0.03
+      ],
+      [
+       0.18,
+       0.98,
+       0.01
+      ],
+      [
+       -0.03,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.06,
+      -0.09,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.61,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.09
+      ],
+      [
+       0.09,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      -0.7,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.71,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.02
+      ],
+      [
+       0.18,
+       -0.98,
+       0.0
+      ],
+      [
+       0.02,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      1.72,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.8,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.04
+      ],
+      [
+       -0.02,
+       0.04,
+       -1.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.15,
+      1.6,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.78,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       0.98,
+       0.09
+      ],
+      [
+       -0.01,
+       0.09,
+       -1.0
+      ],
+      [
+       -0.98,
+       -0.2,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.39,
+      -1.63,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.59,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.31,
+       0.62,
+       -0.72
+      ],
+      [
+       0.14,
+       -0.72,
+       -0.68
+      ],
+      [
+       -0.94,
+       -0.31,
+       0.14
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      -0.85,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.85,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.98,
+       -0.18
+      ],
+      [
+       0.02,
+       0.18,
+       0.98
+      ],
+      [
+       1.0,
+       -0.03,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.31,
+      2.35,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.27,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       -0.98,
+       -0.03
+      ],
+      [
+       0.48,
+       -0.07,
+       -0.87
+      ],
+      [
+       0.85,
+       -0.21,
+       0.48
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.45,
+      -1.34,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.41,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       -0.14,
+       -0.98
+      ],
+      [
+       0.91,
+       0.4,
+       0.05
+      ],
+      [
+       0.39,
+       -0.9,
+       0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.21,
+      -0.01,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.64,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       -0.55,
+       -0.22
+      ],
+      [
+       0.09,
+       -0.25,
+       0.96
+      ],
+      [
+       -0.58,
+       -0.8,
+       -0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.07,
+      2.98,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.62,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       -0.13,
+       0.96
+      ],
+      [
+       -0.49,
+       -0.84,
+       -0.24
+      ],
+      [
+       0.83,
+       -0.53,
+       0.15
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      2.41,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.71,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -0.97,
+       -0.24
+      ],
+      [
+       -0.69,
+       -0.14,
+       0.71
+      ],
+      [
+       -0.72,
+       0.21,
+       -0.66
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.06,
+      -2.27,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.63,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.03,
+       -1.0
+      ],
+      [
+       -0.34,
+       -0.94,
+       -0.04
+      ],
+      [
+       -0.94,
+       0.34,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      -2.2,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.53,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.18,
+       -0.98
+      ],
+      [
+       -0.17,
+       -0.97,
+       -0.17
+      ],
+      [
+       -0.98,
+       0.16,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      -0.71,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.47,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.16,
+       0.12
+      ],
+      [
+       -0.19,
+       -0.64,
+       -0.74
+      ],
+      [
+       -0.04,
+       -0.75,
+       0.66
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.29,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.23,
+       0.37
+      ],
+      [
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+       0.48,
+       0.76
+      ],
+      [
+       0.0,
+       -0.84,
+       0.54
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.89,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.82,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.26,
+       -0.38
+      ],
+      [
+       -0.04,
+       -0.78,
+       -0.62
+      ],
+      [
+       -0.46,
+       0.57,
+       -0.68
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.67,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.76,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.99,
+       0.04
+      ],
+      [
+       -0.09,
+       -0.03,
+       1.0
+      ],
+      [
+       0.99,
+       -0.11,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      2.17,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.4,
+       -0.91
+      ],
+      [
+       0.16,
+       -0.91,
+       0.39
+      ],
+      [
+       -0.98,
+       -0.11,
+       0.15
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.93,
+      1.25,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.51,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.22,
+       0.37
+      ],
+      [
+       0.01,
+       0.88,
+       0.48
+      ],
+      [
+       -0.43,
+       -0.43,
+       0.79
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.69,
+      1.77,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.36,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.96,
+       0.27
+      ],
+      [
+       -0.49,
+       -0.29,
+       0.82
+      ],
+      [
+       0.86,
+       -0.04,
+       0.5
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.78,
+      -0.04,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.21,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       -0.98,
+       -0.13
+      ],
+      [
+       -0.38,
+       0.17,
+       -0.91
+      ],
+      [
+       0.92,
+       -0.07,
+       -0.39
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.06,
+      -1.68,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.34,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       -0.07,
+       0.99
+      ],
+      [
+       -0.97,
+       -0.18,
+       -0.13
+      ],
+      [
+       0.19,
+       -0.98,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.49,
+      -1.67,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      0.25,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -0.03,
+       1.0
+      ],
+      [
+       0.76,
+       -0.65,
+       -0.01
+      ],
+      [
+       0.65,
+       0.76,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.66,
+      -0.67,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      1.57,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.06,
+       0.02
+      ],
+      [
+       -0.06,
+       -1.0,
+       0.02
+      ],
+      [
+       0.02,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      1.96,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      1.52,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.1,
+       -0.01
+      ],
+      [
+       0.1,
+       0.99,
+       0.08
+      ],
+      [
+       0.0,
+       -0.08,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.55,
+      1.8,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.56,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       -0.09
+      ],
+      [
+       0.02,
+       -1.0,
+       -0.06
+      ],
+      [
+       -0.09,
+       -0.06,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.61,
+      2.12,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      1.25,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       -0.89,
+       -0.44
+      ],
+      [
+       -1.0,
+       0.08,
+       0.03
+      ],
+      [
+       0.01,
+       0.44,
+       -0.9
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.54,
+      -0.2,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.7,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       -1.0,
+       -0.01
+      ],
+      [
+       -0.09,
+       0.01,
+       -1.0
+      ],
+      [
+       0.99,
+       -0.05,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.81,
+      -2.17
+     ],
+     [
+      2.18,
+      -2.17
+     ],
+     [
+      2.18,
+      2.81
+     ],
+     [
+      -2.81,
+      2.81
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0203_01.json b/data/spatial codes/ground truth/compact/scene0203_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3772efa182ac35d8af6cd8f65110589295e7b19
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0203_01.json	
@@ -0,0 +1,644 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      1.88,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      1.17,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       -0.69,
+       -0.63
+      ],
+      [
+       -0.83,
+       -0.55,
+       0.11
+      ],
+      [
+       -0.42,
+       0.48,
+       -0.77
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.49,
+      -2.73,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.6,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.92,
+       -0.38,
+       -0.09
+      ],
+      [
+       -0.28,
+       0.49,
+       0.82
+      ],
+      [
+       -0.27,
+       0.78,
+       -0.56
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      -2.33,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      2.12,
+      0.73,
+      1.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.42,
+       -0.06
+      ],
+      [
+       0.08,
+       -0.31,
+       -0.95
+      ],
+      [
+       -0.42,
+       0.85,
+       -0.31
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.72,
+      -1.06,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      2.14,
+      0.56,
+      1.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.34,
+       -0.94,
+       0.03
+      ],
+      [
+       0.54,
+       0.22,
+       0.81
+      ],
+      [
+       -0.77,
+       -0.26,
+       0.58
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.37,
+      2.54,
+      1.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      1.13,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.4,
+       -0.91,
+       -0.03
+      ],
+      [
+       0.04,
+       0.05,
+       -1.0
+      ],
+      [
+       0.91,
+       0.4,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.54,
+      -0.26,
+      1.58
+     ],
+     "3D oriented bounding box dimensions": [
+      1.08,
+      0.66,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.32,
+       0.68,
+       0.66
+      ],
+      [
+       0.29,
+       -0.59,
+       0.75
+      ],
+      [
+       0.9,
+       0.43,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.73,
+      1.18,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      3.61,
+      1.94,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.38,
+       0.92,
+       0.07
+      ],
+      [
+       0.01,
+       -0.07,
+       1.0
+      ],
+      [
+       0.93,
+       0.38,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.18,
+      2.08,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.5,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.82,
+       -0.34,
+       -0.47
+      ],
+      [
+       0.58,
+       -0.51,
+       -0.64
+      ],
+      [
+       -0.02,
+       -0.79,
+       0.61
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      1.87,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.32,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       0.51,
+       0.6
+      ],
+      [
+       -0.62,
+       -0.79,
+       0.03
+      ],
+      [
+       0.49,
+       -0.35,
+       0.8
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.77,
+      1.94,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.5,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       -0.24,
+       -0.25
+      ],
+      [
+       0.34,
+       -0.73,
+       -0.59
+      ],
+      [
+       -0.04,
+       -0.64,
+       0.77
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -1.36,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.52,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       0.67,
+       -0.05
+      ],
+      [
+       0.67,
+       -0.74,
+       0.06
+      ],
+      [
+       0.01,
+       -0.08,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.97,
+      -1.18,
+      1.6
+     ],
+     "3D oriented bounding box dimensions": [
+      1.66,
+      0.73,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       -0.01,
+       -0.98
+      ],
+      [
+       -0.16,
+       0.99,
+       0.03
+      ],
+      [
+       0.97,
+       0.17,
+       -0.2
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.81,
+      -1.96,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.52,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.04,
+       -1.0
+      ],
+      [
+       -0.9,
+       0.44,
+       -0.03
+      ],
+      [
+       0.44,
+       0.9,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      -0.54,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.51,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       -0.93,
+       0.04
+      ],
+      [
+       0.06,
+       -0.01,
+       -1.0
+      ],
+      [
+       0.93,
+       0.37,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.07,
+      1.55,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.37,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.27,
+       0.54
+      ],
+      [
+       0.04,
+       0.91,
+       0.41
+      ],
+      [
+       -0.6,
+       -0.31,
+       0.74
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.27,
+      0.45,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.34,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.39,
+       0.92,
+       0.04
+      ],
+      [
+       -0.9,
+       -0.39,
+       0.17
+      ],
+      [
+       0.17,
+       0.03,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.76,
+      -2.86
+     ],
+     [
+      2.35,
+      -2.86
+     ],
+     [
+      2.35,
+      2.25
+     ],
+     [
+      -2.76,
+      2.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0207_02.json b/data/spatial codes/ground truth/compact/scene0207_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddddfb833ef78ba889ec723914e3278bbce6fcbf
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0207_02.json	
@@ -0,0 +1,956 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.22,
+      -2.59,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      2.28,
+      0.68,
+      1.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.67,
+       -0.72,
+       0.16
+      ],
+      [
+       0.05,
+       -0.17,
+       -0.98
+      ],
+      [
+       0.74,
+       0.67,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.11,
+      -0.58,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.94,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       -0.74,
+       0.02
+      ],
+      [
+       0.09,
+       -0.06,
+       0.99
+      ],
+      [
+       -0.73,
+       0.67,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.41,
+      0.2,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      2.0,
+      0.69,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       -0.7,
+       -0.01
+      ],
+      [
+       -0.11,
+       -0.13,
+       0.99
+      ],
+      [
+       -0.69,
+       -0.7,
+       -0.17
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.81,
+      -1.85,
+      1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      1.67,
+      0.92,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.04
+      ],
+      [
+       -0.64,
+       0.76,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
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+     "3D oriented bounding box center coordinates": [
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+      -2.95,
+      1.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.86,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.09,
+       0.99
+      ],
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+       0.73,
+       0.03
+      ],
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+       0.68,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.25,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.69,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.7,
+       0.0
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+       0.67,
+       0.34
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+       -0.24,
+       0.94
+      ]
+     ]
+    },
+    "first visible time": 15.0
+   }
+  ],
+  "refrigerator": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.28,
+      0.93
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+     "3D oriented bounding box dimensions": [
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+      0.95,
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+     "3D oriented bounding box orientation unit vectors": [
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+   }
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+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.21
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
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+      -1.59,
+      1.15
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.7,
+       0.21
+      ]
+     ]
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+   }
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+      -2.08,
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+      0.39
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.8,
+       0.06
+      ]
+     ]
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+   },
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+      -2.08,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.39
+     ],
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+       -0.8,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
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+      1.4,
+      1.0
+     ],
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+      0.27,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.2,
+       -0.97
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+       0.32,
+       -0.19
+      ],
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+       0.35,
+       0.93,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": 13.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.48,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.66,
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+       -0.16,
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+       0.73,
+       0.13
+      ]
+     ]
+    },
+    "first visible time": 13.0
+   }
+  ],
+  "nightstand": [
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+      -2.51,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.49
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.05
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+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   }
+  ],
+  "backpack": [
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+     "3D oriented bounding box center coordinates": [
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+      0.29,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.62,
+       -0.61
+      ],
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+       0.4,
+       -0.3
+      ],
+      [
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+       0.68,
+       0.73
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   },
+   {
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+      0.2,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.33,
+       0.85
+      ],
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+       0.93,
+       -0.37
+      ],
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+       0.18,
+       0.38
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "closet": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      -1.2,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.89,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.02,
+       -1.0
+      ],
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+       -0.37,
+       -0.02
+      ],
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+       -0.37,
+       0.93,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "microwave": [
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+    "3D oriented bounding box": {
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+      2.31,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.74,
+       0.0
+      ],
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+       -0.68,
+       -0.03
+      ],
+      [
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+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 16.0
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.6,
+      1.6
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.06,
+       1.0
+      ],
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+       0.75,
+       0.07
+      ],
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+       -0.66,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 18.0
+   }
+  ],
+  "radiator": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.74,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.7,
+       0.0
+      ],
+      [
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+       0.69,
+       0.24
+      ],
+      [
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+       -0.17,
+       0.97
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "trash bin": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.23,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.1,
+       0.99
+      ],
+      [
+       0.52,
+       0.85,
+       0.11
+      ],
+      [
+       -0.85,
+       0.52,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 12.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.26,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.89,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       0.02,
+       -1.0
+      ],
+      [
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+       -0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.85,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 17.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.19,
+      1.3
+     ],
+     "3D oriented bounding box dimensions": [
+      1.48,
+      1.3,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       -0.39,
+       -0.84
+      ],
+      [
+       -0.59,
+       -0.6,
+       0.54
+      ],
+      [
+       -0.72,
+       0.7,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 17.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.35,
+      -1.51,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.83,
+      0.84,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.71,
+       0.71,
+       -0.02
+      ],
+      [
+       0.0,
+       -0.02,
+       -1.0
+      ],
+      [
+       -0.71,
+       -0.71,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.8,
+      2.11,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.88,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       -0.69,
+       -0.01
+      ],
+      [
+       0.03,
+       0.04,
+       -1.0
+      ],
+      [
+       0.69,
+       0.72,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.4,
+      -2.86
+     ],
+     [
+      3.1,
+      -2.86
+     ],
+     [
+      3.1,
+      2.64
+     ],
+     [
+      -2.4,
+      2.64
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0208_00.json b/data/spatial codes/ground truth/compact/scene0208_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba37df0ddebb535ce7a4ac4593db571d49a46be8
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0208_00.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": {
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.05,
+      -2.52,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      0.83,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.26,
+       0.0
+      ],
+      [
+       -0.02,
+       -0.08,
+       -1.0
+      ],
+      [
+       0.26,
+       0.96,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.27,
+      -1.69,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.66,
+      0.83,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       0.31,
+       0.09
+      ],
+      [
+       0.06,
+       -0.1,
+       0.99
+      ],
+      [
+       0.31,
+       0.95,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.37,
+      -3.63
+     ],
+     [
+      2.73,
+      -3.63
+     ],
+     [
+      2.73,
+      2.48
+     ],
+     [
+      -3.37,
+      2.48
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0221_01.json b/data/spatial codes/ground truth/compact/scene0221_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..135034cc6c19f427b84c1055f94385dab95cf8dc
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0221_01.json	
@@ -0,0 +1,778 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      -0.74,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      2.27,
+      0.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       -0.02
+      ],
+      [
+       -0.02,
+       0.98,
+       -0.18
+      ],
+      [
+       0.02,
+       0.18,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.97,
+      -0.72,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      1.68,
+      2.19,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.02,
+       0.11
+      ],
+      [
+       0.0,
+       -0.98,
+       0.19
+      ],
+      [
+       0.11,
+       0.19,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      0.96,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.15,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.01,
+       -0.1
+      ],
+      [
+       0.0,
+       1.0,
+       0.1
+      ],
+      [
+       0.1,
+       -0.1,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.65,
+      0.93,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.8,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.54,
+       -0.2,
+       -0.81
+      ],
+      [
+       0.83,
+       0.28,
+       0.49
+      ],
+      [
+       0.13,
+       -0.94,
+       0.32
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.07,
+      1.19,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      0.64,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       0.11,
+       0.96
+      ],
+      [
+       0.96,
+       -0.18,
+       -0.23
+      ],
+      [
+       0.14,
+       0.98,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.92,
+      -1.55,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.3,
+      0.44,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.07,
+       0.07
+      ],
+      [
+       -0.06,
+       0.17,
+       -0.98
+      ],
+      [
+       -0.08,
+       -0.98,
+       -0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.17,
+      -1.43,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.46,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       -0.06
+      ],
+      [
+       -0.04,
+       0.65,
+       -0.76
+      ],
+      [
+       0.04,
+       0.76,
+       0.65
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      -1.57,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.39,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.09,
+       -0.03
+      ],
+      [
+       -0.03,
+       0.61,
+       -0.79
+      ],
+      [
+       0.09,
+       -0.79,
+       -0.61
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.42,
+      -1.62,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.71,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       -0.46,
+       0.88
+      ],
+      [
+       0.97,
+       -0.14,
+       -0.19
+      ],
+      [
+       0.21,
+       0.88,
+       0.43
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.95,
+      -1.38,
+      1.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.23,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.07,
+       0.06
+      ],
+      [
+       -0.09,
+       -0.89,
+       -0.46
+      ],
+      [
+       0.02,
+       -0.46,
+       0.89
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.91,
+      -1.58,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.43,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.97,
+       -0.01
+      ],
+      [
+       0.97,
+       -0.24,
+       -0.02
+      ],
+      [
+       -0.02,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.76,
+      -1.85,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.06,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.42,
+       -0.16
+      ],
+      [
+       0.45,
+       0.85,
+       0.27
+      ],
+      [
+       0.02,
+       -0.31,
+       0.95
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      -1.52,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.51,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       0.02,
+       1.0
+      ],
+      [
+       0.01,
+       -1.0,
+       0.02
+      ],
+      [
+       1.0,
+       0.0,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.1,
+      -1.44,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.4,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       0.67,
+       -0.01
+      ],
+      [
+       0.31,
+       -0.33,
+       0.89
+      ],
+      [
+       0.59,
+       -0.67,
+       -0.45
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.1,
+      -0.86,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.53,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.03
+      ],
+      [
+       0.09,
+       -0.05,
+       1.0
+      ],
+      [
+       0.98,
+       -0.15,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.19,
+      -0.05,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.34,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.14,
+       0.99
+      ],
+      [
+       1.0,
+       0.04,
+       -0.02
+      ],
+      [
+       -0.04,
+       0.99,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.2,
+      0.47,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      2.02,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.05
+      ],
+      [
+       -0.05,
+       0.06,
+       -1.0
+      ],
+      [
+       -1.0,
+       0.05,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.18,
+      1.67,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      1.62,
+      0.98,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       -0.03,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.09
+      ],
+      [
+       0.02,
+       -1.0,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.91,
+      1.31,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.68,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.06,
+       -0.1
+      ],
+      [
+       0.06,
+       -1.0,
+       -0.05
+      ],
+      [
+       -0.1,
+       0.05,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.93,
+      1.13,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.71,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.14,
+       0.11
+      ],
+      [
+       -0.13,
+       0.13,
+       -0.98
+      ],
+      [
+       0.12,
+       -0.98,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.48,
+      -2.57
+     ],
+     [
+      2.5,
+      -2.57
+     ],
+     [
+      2.5,
+      2.4
+     ],
+     [
+      -2.48,
+      2.4
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0222_01.json b/data/spatial codes/ground truth/compact/scene0222_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad8fa98210bd4a95b8bb2c5b4f82f700cd3b5557
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0222_01.json	
@@ -0,0 +1,846 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      1.86,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      2.42,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       0.05
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.02
+      ],
+      [
+       0.03,
+       -0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.98,
+      -1.88,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      2.28,
+      1.26,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       -0.99,
+       0.08
+      ],
+      [
+       1.0,
+       0.08,
+       -0.03
+      ],
+      [
+       0.02,
+       0.08,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      0.76,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.81,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       -0.04
+      ],
+      [
+       0.03,
+       -0.06,
+       1.0
+      ],
+      [
+       -0.05,
+       -1.0,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      0.24,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.8,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.05,
+       1.0
+      ],
+      [
+       1.0,
+       0.07,
+       0.02
+      ],
+      [
+       -0.07,
+       1.0,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.54,
+      -1.32,
+      1.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.41,
+      1.35,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       -0.99,
+       0.06
+      ],
+      [
+       -0.01,
+       -0.06,
+       -1.0
+      ],
+      [
+       0.99,
+       0.11,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.66,
+      -0.16,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      1.36,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.03,
+       1.0
+      ],
+      [
+       0.12,
+       -0.99,
+       -0.03
+      ],
+      [
+       0.99,
+       0.13,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.76,
+      -1.3,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.47,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       0.05,
+       1.0
+      ],
+      [
+       -0.14,
+       0.99,
+       -0.05
+      ],
+      [
+       -0.99,
+       -0.14,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.56,
+      -2.66,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.55,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.03
+      ],
+      [
+       -0.03,
+       1.0,
+       -0.09
+      ],
+      [
+       -0.03,
+       0.09,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.42,
+      2.01,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.11,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.2,
+       -0.07
+      ],
+      [
+       0.05,
+       0.11,
+       -0.99
+      ],
+      [
+       0.21,
+       -0.97,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.83,
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+     "3D oriented bounding box dimensions": [
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+       0.97,
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+       -0.21,
+       0.01
+      ],
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+       -0.99
+      ]
+     ]
+    },
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+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      1.72,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.84,
+       -0.41
+      ],
+      [
+       -0.93,
+       -0.26,
+       -0.25
+      ],
+      [
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+       0.47,
+       -0.87
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.48,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.72,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.16,
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+      ],
+      [
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+       -0.41,
+       0.63
+      ],
+      [
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+       -0.9,
+       -0.41
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.11,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.73,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.05,
+       -0.05
+      ],
+      [
+       0.04,
+       -0.99,
+       0.1
+      ],
+      [
+       -0.05,
+       0.1,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.08,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.24,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.18,
+       0.11
+      ],
+      [
+       0.19,
+       -0.98,
+       -0.05
+      ],
+      [
+       0.1,
+       0.07,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
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+      -0.97,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.42,
+       0.89
+      ],
+      [
+       -0.12,
+       0.89,
+       -0.45
+      ],
+      [
+       -0.97,
+       -0.2,
+       -0.12
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.8,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.03,
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+      ],
+      [
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+       -0.05,
+       -0.03
+      ],
+      [
+       0.05,
+       -1.0,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.76,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.98,
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+      ],
+      [
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+       0.16,
+       0.02
+      ],
+      [
+       -0.04,
+       0.08,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.82,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.1
+      ],
+      [
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+       0.04,
+       0.04
+      ],
+      [
+       -0.04,
+       0.1,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.7,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.85,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       1.0
+      ],
+      [
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+       0.99,
+       0.04
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.31,
+      -2.0,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      2.0,
+      1.11,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.02,
+       -1.0
+      ],
+      [
+       -0.15,
+       0.99,
+       -0.02
+      ],
+      [
+       0.99,
+       0.15,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.71,
+      0.0,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      1.29,
+      0.89,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       -0.99,
+       0.02
+      ],
+      [
+       0.01,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.99,
+       0.12,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.23,
+      0.4,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      1.55,
+      1.77,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.07,
+       1.0
+      ],
+      [
+       0.08,
+       -0.99,
+       -0.07
+      ],
+      [
+       1.0,
+       0.08,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.09,
+      -2.12
+     ],
+     [
+      2.1,
+      -2.12
+     ],
+     [
+      2.1,
+      2.07
+     ],
+     [
+      -2.09,
+      2.07
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0316_00.json b/data/spatial codes/ground truth/compact/scene0316_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..103ceca475442000872bcb24d1e8f4c00b72d900
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0316_00.json	
@@ -0,0 +1,252 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.4,
+      -0.67,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      1.08,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.99,
+       0.01
+      ],
+      [
+       0.77,
+       0.14,
+       -0.62
+      ],
+      [
+       -0.61,
+       -0.1,
+       -0.78
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      1.35,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.69,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       -0.03
+      ],
+      [
+       -0.03,
+       0.82,
+       0.57
+      ],
+      [
+       0.05,
+       -0.57,
+       0.82
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.46,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      1.33,
+      1.12,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       0.97,
+       -0.13
+      ],
+      [
+       0.03,
+       -0.13,
+       -0.99
+      ],
+      [
+       -0.98,
+       -0.2,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.31,
+      -1.67,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.59,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.88,
+       -0.21
+      ],
+      [
+       0.07,
+       0.27,
+       0.96
+      ],
+      [
+       0.9,
+       0.39,
+       -0.18
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.41,
+      -2.1
+     ],
+     [
+      2.42,
+      -2.1
+     ],
+     [
+      2.42,
+      1.73
+     ],
+     [
+      -1.41,
+      1.73
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0357_01.json b/data/spatial codes/ground truth/compact/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb111d238bee212d72b573cb7420ef3bc77844a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0357_01.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.97,
+      0.31,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.54,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       0.99,
+       0.07
+      ],
+      [
+       -0.35,
+       -0.1,
+       0.93
+      ],
+      [
+       0.93,
+       0.06,
+       0.36
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.6,
+      0.92,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.24,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -0.01,
+       1.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.01
+      ],
+      [
+       -1.0,
+       -0.01,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      0.21,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.46,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       -0.7,
+       0.24
+      ],
+      [
+       0.71,
+       -0.7,
+       -0.05
+      ],
+      [
+       0.2,
+       0.14,
+       0.97
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.67,
+      -0.16,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      1.69,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.18,
+       0.1
+      ],
+      [
+       0.09,
+       0.02,
+       1.0
+      ],
+      [
+       -0.18,
+       0.98,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.37,
+      1.67,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      2.04,
+      1.2,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       0.01,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.05
+      ],
+      [
+       0.05,
+       -1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.75,
+      0.06,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.68,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.08,
+       -1.0,
+       -0.02
+      ],
+      [
+       0.99,
+       -0.09,
+       0.11
+      ],
+      [
+       -0.11,
+       -0.01,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.93,
+      -1.55
+     ],
+     [
+      2.37,
+      -1.55
+     ],
+     [
+      2.37,
+      1.75
+     ],
+     [
+      -0.93,
+      1.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0378_01.json b/data/spatial codes/ground truth/compact/scene0378_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e01ab4b8b1943589c700b362c0c7fb46f4fa1d7
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0378_01.json	
@@ -0,0 +1,648 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -0.62,
+      0.21,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.61,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -0.07,
+       -1.0
+      ],
+      [
+       -0.94,
+       0.33,
+       -0.08
+      ],
+      [
+       0.34,
+       0.94,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.42,
+      1.14,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.52,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.05,
+       -1.0
+      ],
+      [
+       0.26,
+       -0.96,
+       0.04
+      ],
+      [
+       -0.96,
+       -0.26,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      -1.06,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.67,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       -0.14,
+       0.99
+      ],
+      [
+       -0.76,
+       -0.65,
+       -0.06
+      ],
+      [
+       0.65,
+       -0.75,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.07,
+      0.75,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.53,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.07,
+       -1.0
+      ],
+      [
+       -0.71,
+       -0.7,
+       0.08
+      ],
+      [
+       -0.71,
+       0.71,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.38,
+      1.53,
+      1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      3.11,
+      1.83,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.69,
+       -0.72,
+       0.0
+      ],
+      [
+       0.04,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.72,
+       -0.69,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.81,
+      -0.51,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      1.9,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       -0.74,
+       0.03
+      ],
+      [
+       0.1,
+       -0.04,
+       0.99
+      ],
+      [
+       -0.73,
+       0.67,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      -1.74,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      2.03,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.68,
+       -0.01
+      ],
+      [
+       0.05,
+       0.07,
+       -1.0
+      ],
+      [
+       0.68,
+       0.73,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.28,
+      -0.44,
+      1.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.43,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       0.74,
+       0.01
+      ],
+      [
+       0.06,
+       0.05,
+       1.0
+      ],
+      [
+       0.74,
+       0.67,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.93,
+      0.35,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.41,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.45,
+       0.88,
+       0.13
+      ],
+      [
+       0.89,
+       -0.45,
+       -0.04
+      ],
+      [
+       0.03,
+       0.13,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.93,
+      0.35,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.41,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.45,
+       0.88,
+       0.13
+      ],
+      [
+       0.89,
+       -0.45,
+       -0.04
+      ],
+      [
+       0.03,
+       0.13,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.91,
+      -0.99,
+      2.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.31,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.66,
+       -0.57,
+       0.5
+      ],
+      [
+       -0.35,
+       0.36,
+       0.86
+      ],
+      [
+       -0.67,
+       -0.74,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.54,
+      0.18,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.4,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.6,
+       -0.8,
+       0.02
+      ],
+      [
+       0.8,
+       0.6,
+       -0.01
+      ],
+      [
+       0.0,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      -1.55,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      2.19,
+      0.1,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.02,
+       -1.0
+      ],
+      [
+       0.77,
+       -0.64,
+       -0.02
+      ],
+      [
+       -0.64,
+       -0.77,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.29,
+      -0.81,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      1.22,
+      0.85,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.72,
+       -0.7,
+       -0.01
+      ],
+      [
+       -0.01,
+       0.02,
+       -1.0
+      ],
+      [
+       0.7,
+       -0.72,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.71,
+      1.48,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      1.59,
+      0.83,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       0.72,
+       -0.01
+      ],
+      [
+       0.72,
+       -0.69,
+       -0.01
+      ],
+      [
+       -0.01,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.16,
+      -0.28,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.83,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       0.05,
+       1.0
+      ],
+      [
+       0.71,
+       0.7,
+       -0.02
+      ],
+      [
+       -0.7,
+       0.71,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.72,
+      -1.53
+     ],
+     [
+      1.79,
+      -1.53
+     ],
+     [
+      1.79,
+      1.98
+     ],
+     [
+      -1.72,
+      1.98
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0412_00.json b/data/spatial codes/ground truth/compact/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..16de16f9c849c81c870ebe1a55dfafbae5cd873d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0412_00.json	
@@ -0,0 +1,540 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.74,
+      2.84,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.51,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.07,
+       0.07
+      ],
+      [
+       -0.08,
+       0.99,
+       0.07
+      ],
+      [
+       -0.06,
+       -0.08,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      0.59,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.38,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.33,
+       0.94,
+       0.04
+      ],
+      [
+       0.94,
+       0.33,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.37,
+      0.78,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.45,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       -0.18,
+       0.92
+      ],
+      [
+       -0.19,
+       0.97,
+       0.12
+      ],
+      [
+       -0.92,
+       -0.14,
+       -0.36
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.46,
+      1.12,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.58,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -0.08,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.05
+      ],
+      [
+       0.06,
+       -0.99,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.88,
+      0.98,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.67,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.15,
+       -0.03
+      ],
+      [
+       -0.02,
+       -0.08,
+       -1.0
+      ],
+      [
+       -0.15,
+       0.99,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.1,
+      1.67,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.37,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.19,
+       0.08
+      ],
+      [
+       -0.15,
+       0.94,
+       -0.31
+      ],
+      [
+       -0.13,
+       0.29,
+       0.95
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.54,
+      -3.12,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      1.88,
+      1.53,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.09,
+       -0.01
+      ],
+      [
+       -0.01,
+       0.01,
+       1.0
+      ],
+      [
+       -0.09,
+       1.0,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.13,
+      2.07,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      1.31,
+      0.85,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.01,
+       -1.0,
+       -0.03
+      ],
+      [
+       -1.0,
+       0.01,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      1.66,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      1.77,
+      0.77,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.14,
+       0.03
+      ],
+      [
+       -0.13,
+       0.99,
+       0.03
+      ],
+      [
+       -0.04,
+       0.03,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      -2.02,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.69,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.14,
+       -0.02,
+       -0.99
+      ],
+      [
+       -0.98,
+       -0.13,
+       0.14
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.65,
+      -0.68,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      2.29,
+      0.8,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       -0.02
+      ],
+      [
+       0.2,
+       0.01,
+       -0.98
+      ],
+      [
+       -0.97,
+       -0.16,
+       -0.2
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      -1.02,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      1.76,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.06,
+       -0.98
+      ],
+      [
+       -0.16,
+       0.99,
+       0.03
+      ],
+      [
+       0.97,
+       0.15,
+       0.19
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      -0.81,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      1.72,
+      0.85,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.98,
+       -0.06
+      ],
+      [
+       0.97,
+       0.18,
+       0.15
+      ],
+      [
+       0.16,
+       -0.04,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.97,
+      -2.24
+     ],
+     [
+      2.37,
+      -2.24
+     ],
+     [
+      2.37,
+      2.1
+     ],
+     [
+      -1.97,
+      2.1
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0426_00.json b/data/spatial codes/ground truth/compact/scene0426_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b285fc376629cfa770b138f08ca3f1c8e122c3d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0426_00.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.16,
+      -0.57,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      2.0,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.01,
+       -0.4
+      ],
+      [
+       -0.04,
+       1.0,
+       -0.06
+      ],
+      [
+       0.4,
+       0.07,
+       0.92
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.17,
+      -1.36,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.7,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.1,
+       -0.48
+      ],
+      [
+       -0.37,
+       0.77,
+       -0.52
+      ],
+      [
+       0.32,
+       0.63,
+       0.71
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.06,
+      1.09,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.81,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.91,
+       0.42,
+       0.01
+      ],
+      [
+       -0.07,
+       -0.13,
+       -0.99
+      ],
+      [
+       -0.41,
+       -0.9,
+       0.15
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      -1.37,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.78,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       0.83,
+       -0.55
+      ],
+      [
+       -0.01,
+       0.55,
+       0.83
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.09,
+      -0.08,
+      1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      1.15,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -0.05,
+       -1.0
+      ],
+      [
+       -0.02,
+       1.0,
+       -0.05
+      ],
+      [
+       1.0,
+       0.02,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.13,
+      0.13,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.14,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.94,
+       0.33
+      ],
+      [
+       -0.25,
+       0.32,
+       -0.91
+      ],
+      [
+       -0.97,
+       -0.06,
+       0.25
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.74,
+      -1.13,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.54,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       -0.12,
+       -0.35
+      ],
+      [
+       -0.36,
+       0.06,
+       0.93
+      ],
+      [
+       -0.09,
+       0.99,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.95,
+      -0.08,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      1.17,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       -0.03,
+       0.9
+      ],
+      [
+       0.16,
+       -0.99,
+       0.04
+      ],
+      [
+       0.88,
+       0.16,
+       0.44
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.96,
+      0.96,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.47,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       0.03,
+       -1.0
+      ],
+      [
+       -0.16,
+       0.99,
+       0.02
+      ],
+      [
+       0.99,
+       0.15,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.05,
+      1.21,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.29,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       -0.06
+      ],
+      [
+       0.07,
+       0.06,
+       1.0
+      ],
+      [
+       1.0,
+       -0.02,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.98,
+      0.89,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.18,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.02,
+       0.1
+      ],
+      [
+       -0.03,
+       1.0,
+       -0.08
+      ],
+      [
+       -0.1,
+       -0.08,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.47,
+      0.85,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.38,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       -0.04,
+       -1.0
+      ],
+      [
+       -0.99,
+       -0.07,
+       -0.08
+      ],
+      [
+       -0.06,
+       1.0,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      -1.45,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.32,
+      1.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.01
+      ],
+      [
+       0.16,
+       0.99,
+       0.01
+      ],
+      [
+       -0.01,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.68,
+      -0.52,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.6,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.04
+      ],
+      [
+       -0.02,
+       0.04,
+       -1.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      0.99,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.51,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.01
+      ],
+      [
+       -0.39,
+       -0.08,
+       0.92
+      ],
+      [
+       0.9,
+       0.17,
+       0.4
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.83,
+      1.08,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.98,
+      1.82,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.06
+      ],
+      [
+       0.03,
+       -0.05,
+       1.0
+      ],
+      [
+       1.0,
+       0.03,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.37,
+      1.09,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      1.48,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.04
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.07
+      ],
+      [
+       0.07,
+       -0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.91,
+      -1.83
+     ],
+     [
+      1.66,
+      -1.83
+     ],
+     [
+      1.66,
+      1.75
+     ],
+     [
+      -1.91,
+      1.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0435_02.json b/data/spatial codes/ground truth/compact/scene0435_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3680e981a6435ef8f725f809266a3dc18035e03
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0435_02.json	
@@ -0,0 +1,812 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -2.12,
+      0.43,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.77,
+      1.54,
+      2.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.81,
+       0.59,
+       0.04
+      ],
+      [
+       -0.05,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.59,
+       -0.81,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.18,
+      -0.93,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      2.39,
+      1.46,
+      1.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.81,
+       -0.19
+      ],
+      [
+       0.1,
+       0.16,
+       0.98
+      ],
+      [
+       0.82,
+       -0.57,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      0.77,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.68,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.54,
+       -0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.54,
+       -0.01
+      ],
+      [
+       0.0,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      -2.26,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      1.01,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      1.21
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+      0.52,
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+       -1.0
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+       -0.98
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+     "3D oriented bounding box dimensions": [
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+      0.42,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.64,
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+       -0.74,
+       0.33
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+       0.23,
+       0.94
+      ]
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+    "first visible time": null
+   },
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+      -0.37,
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+     "3D oriented bounding box dimensions": [
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+      0.7,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.78,
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+       0.04
+      ],
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+       0.01,
+       1.0
+      ]
+     ]
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+   },
+   {
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+      -1.45,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.19,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.02
+      ],
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+       0.02,
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+      ],
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+       0.88,
+       -0.04
+      ]
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+    },
+    "first visible time": null
+   },
+   {
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+      -1.87,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.43,
+       -0.02
+      ],
+      [
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+       0.07,
+       1.0
+      ],
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+       0.9,
+       -0.07
+      ]
+     ]
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+    "first visible time": null
+   }
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+      -1.02,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07
+      ],
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+       0.06,
+       1.0
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+       0.8,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+      0.86,
+      1.67
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+    "3D oriented bounding box": {
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+      1.9,
+      1.61
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.78,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
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+       0.0
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+       -0.86,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "nightstand": [
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+      -0.93,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.77
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
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+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
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+      -1.89,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.55,
+       -0.79
+      ],
+      [
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+       -0.83,
+       -0.52
+      ],
+      [
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+       0.01,
+       0.33
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.21,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.0,
+       -1.0
+      ],
+      [
+       0.83,
+       -0.55,
+       0.08
+      ],
+      [
+       -0.55,
+       -0.83,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.77,
+      2.34,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.33,
+      1.0,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       -0.07,
+       0.99
+      ],
+      [
+       -0.81,
+       0.58,
+       0.1
+      ],
+      [
+       -0.59,
+       -0.81,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      1.18,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      1.46,
+      1.04,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.81,
+       0.58,
+       0.01
+      ],
+      [
+       0.02,
+       0.05,
+       -1.0
+      ],
+      [
+       -0.58,
+       -0.81,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.68,
+      -2.04
+     ],
+     [
+      2.03,
+      -2.04
+     ],
+     [
+      2.03,
+      2.67
+     ],
+     [
+      -2.68,
+      2.67
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0441_00.json b/data/spatial codes/ground truth/compact/scene0441_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d52050cd970fb75d11c45fdb4a8c86ab5b4cc58
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0441_00.json	
@@ -0,0 +1,284 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      -0.72,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.47,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -0.03,
+       1.0
+      ],
+      [
+       -0.85,
+       -0.52,
+       0.03
+      ],
+      [
+       0.52,
+       -0.85,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.02,
+      -1.25,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.15,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.38,
+       0.43,
+       -0.82
+      ],
+      [
+       0.79,
+       0.61,
+       -0.05
+      ],
+      [
+       0.48,
+       -0.67,
+       -0.57
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.8,
+      0.1,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.45,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       -0.02,
+       1.0
+      ],
+      [
+       -0.55,
+       0.84,
+       0.04
+      ],
+      [
+       -0.84,
+       -0.55,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      1.84,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.45,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       -0.86,
+       0.0
+      ],
+      [
+       0.86,
+       0.51,
+       -0.02
+      ],
+      [
+       0.02,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.62,
+      1.08,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.7,
+      0.14,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -0.01,
+       -1.0
+      ],
+      [
+       0.98,
+       0.18,
+       -0.01
+      ],
+      [
+       0.18,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.58,
+      -1.28
+     ],
+     [
+      1.04,
+      -1.28
+     ],
+     [
+      1.04,
+      1.34
+     ],
+     [
+      -1.58,
+      1.34
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0458_00.json b/data/spatial codes/ground truth/compact/scene0458_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cf5fb7dd2bb22d9089ce40ac58a506e606cd92d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0458_00.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      -0.71,
+      1.45
+     ],
+     "3D oriented bounding box dimensions": [
+      1.32,
+      1.26,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.01,
+       1.0
+      ],
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.1,
+      1.02,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.86,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.13,
+       0.01
+      ],
+      [
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+       0.01,
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+      ],
+      [
+       -0.13,
+       0.99,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.68,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.03
+      ],
+      [
+       -0.71,
+       -0.07,
+       -0.7
+      ],
+      [
+       0.7,
+       0.03,
+       -0.72
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.01,
+      -0.54,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.32,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.06,
+       -0.14
+      ],
+      [
+       0.15,
+       -0.08,
+       0.99
+      ],
+      [
+       0.05,
+       -1.0,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.82,
+      -0.06,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.4,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -0.08,
+       -1.0
+      ],
+      [
+       -1.0,
+       0.0,
+       -0.03
+      ],
+      [
+       0.0,
+       1.0,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      0.7,
+      1.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.68,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.95,
+       -0.32
+      ],
+      [
+       -0.02,
+       -0.32,
+       0.95
+      ],
+      [
+       -1.0,
+       -0.01,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.75,
+      -0.85
+     ],
+     [
+      0.22,
+      -0.85
+     ],
+     [
+      0.22,
+      1.12
+     ],
+     [
+      -1.75,
+      1.12
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0461_00.json b/data/spatial codes/ground truth/compact/scene0461_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c193b296e85f1144d312deef35a7aed890976e7
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0461_00.json	
@@ -0,0 +1,284 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.1,
+      -0.79,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.08,
+      0.92,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.14,
+       -0.99,
+       0.01
+      ],
+      [
+       0.99,
+       0.14,
+       0.03
+      ],
+      [
+       -0.03,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      0.87,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.95,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       -0.99,
+       0.06
+      ],
+      [
+       0.99,
+       0.08,
+       -0.11
+      ],
+      [
+       0.1,
+       0.07,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      0.34,
+      1.67
+     ],
+     "3D oriented bounding box dimensions": [
+      1.94,
+      1.38,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.99,
+       -0.13
+      ],
+      [
+       0.05,
+       -0.13,
+       -0.99
+      ],
+      [
+       -1.0,
+       -0.09,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.32,
+      -0.02,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.64,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.04
+      ],
+      [
+       -0.04,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.19,
+      0.8,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.59,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.13,
+       -0.01
+      ],
+      [
+       0.13,
+       -0.99,
+       0.01
+      ],
+      [
+       -0.01,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.74,
+      -1.33
+     ],
+     [
+      2.11,
+      -1.33
+     ],
+     [
+      2.11,
+      1.52
+     ],
+     [
+      -0.74,
+      1.52
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0462_00.json b/data/spatial codes/ground truth/compact/scene0462_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e082823d962ff245e414270ff08badfb611947f6
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0462_00.json	
@@ -0,0 +1,350 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.8,
+      -1.2,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.6,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.01,
+       1.0
+      ],
+      [
+       0.66,
+       -0.75,
+       -0.02
+      ],
+      [
+       0.75,
+       0.66,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      0.42,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.5,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       -0.81,
+       -0.03
+      ],
+      [
+       0.81,
+       0.58,
+       -0.05
+      ],
+      [
+       0.06,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      0.42,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.5,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       -0.81,
+       -0.03
+      ],
+      [
+       0.81,
+       0.58,
+       -0.05
+      ],
+      [
+       0.06,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.43,
+      1.12,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.64,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.84,
+       0.03
+      ],
+      [
+       -0.01,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.84,
+       -0.55,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.8,
+      0.72,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.68,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.66,
+       0.03
+      ],
+      [
+       -0.66,
+       -0.75,
+       0.05
+      ],
+      [
+       0.06,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.07,
+      -1.92,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      2.14,
+      1.18,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.84,
+       0.55,
+       -0.02
+      ],
+      [
+       0.55,
+       0.84,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.2,
+      1.48,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      1.84,
+      1.18,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.02,
+       -1.0
+      ],
+      [
+       -0.54,
+       0.84,
+       0.01
+      ],
+      [
+       0.84,
+       0.54,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.91,
+      -1.76
+     ],
+     [
+      1.82,
+      -1.76
+     ],
+     [
+      1.82,
+      1.97
+     ],
+     [
+      -1.91,
+      1.97
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0474_04.json b/data/spatial codes/ground truth/compact/scene0474_04.json
new file mode 100644
index 0000000000000000000000000000000000000000..e627ed6cfe55fb9c4e001c42874f61132b03a7cc
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0474_04.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": [
+      -0.63,
+      -1.04,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.49,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.56,
+       0.49,
+       -0.67
+      ],
+      [
+       -0.68,
+       -0.74,
+       0.03
+      ],
+      [
+       -0.48,
+       0.47,
+       0.74
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.54,
+      0.42,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.89,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       0.47,
+       -0.07
+      ],
+      [
+       -0.1,
+       0.04,
+       -0.99
+      ],
+      [
+       -0.47,
+       0.88,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      -0.93,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.63,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.97,
+       0.1
+      ],
+      [
+       0.01,
+       -0.1,
+       1.0
+      ],
+      [
+       0.98,
+       0.21,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.57,
+      -1.12,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.6,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.48,
+       -0.55,
+       0.69
+      ],
+      [
+       0.66,
+       0.74,
+       0.12
+      ],
+      [
+       -0.58,
+       0.39,
+       0.72
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+     "3D oriented bounding box center coordinates": [
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+      -0.91,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.7,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.04
+      ],
+      [
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+       -0.26,
+       0.46
+      ],
+      [
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+       0.09,
+       0.89
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.59,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      2.1,
+      0.25,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.02,
+       0.0,
+       -1.0
+      ],
+      [
+       -0.87,
+       -0.48,
+       0.01
+      ],
+      [
+       -0.48,
+       0.87,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.61,
+      -1.14,
+      2.01
+     ],
+     "3D oriented bounding box dimensions": [
+      2.21,
+      1.89,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.27,
+       -0.95,
+       -0.13
+      ],
+      [
+       0.08,
+       -0.11,
+       0.99
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      -0.77,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
+      2.16,
+      0.7,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       -0.01,
+       1.0
+      ],
+      [
+       0.92,
+       0.39,
+       0.01
+      ],
+      [
+       -0.39,
+       0.92,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.45,
+      -0.16,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.23,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       -0.31,
+       -0.91
+      ],
+      [
+       -0.87,
+       0.34,
+       -0.37
+      ],
+      [
+       0.43,
+       0.89,
+       -0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.53,
+      -0.51,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.22,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.08,
+       0.96,
+       0.28
+      ],
+      [
+       -0.39,
+       0.22,
+       -0.89
+      ],
+      [
+       -0.92,
+       -0.18,
+       0.36
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.97,
+      -1.72,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.45,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.19,
+       -0.28
+      ],
+      [
+       0.01,
+       0.84,
+       -0.54
+      ],
+      [
+       0.34,
+       0.51,
+       0.79
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.67,
+      0.82,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.47,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.28,
+       -0.07
+      ],
+      [
+       -0.15,
+       0.29,
+       -0.95
+      ],
+      [
+       -0.24,
+       0.92,
+       0.32
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      1.06,
+      1.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.57,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       -0.06,
+       -0.98
+      ],
+      [
+       0.95,
+       0.25,
+       0.18
+      ],
+      [
+       0.23,
+       -0.97,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.15,
+      -0.51,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.43,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.35,
+       -0.09,
+       0.93
+      ],
+      [
+       0.09,
+       0.99,
+       0.13
+      ],
+      [
+       -0.93,
+       0.13,
+       -0.34
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      -0.98,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.43,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.18,
+       0.37
+      ],
+      [
+       0.31,
+       0.31,
+       -0.9
+      ],
+      [
+       -0.28,
+       0.93,
+       0.23
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.26,
+      -0.43,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      2.08,
+      1.13,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.99,
+       0.12,
+       0.03
+      ],
+      [
+       0.12,
+       -0.99,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      1.08,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      3.56,
+      0.88,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       -0.28,
+       0.04
+      ],
+      [
+       -0.07,
+       0.09,
+       -0.99
+      ],
+      [
+       0.27,
+       -0.96,
+       -0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.38,
+      -2.36
+     ],
+     [
+      1.8,
+      -2.36
+     ],
+     [
+      1.8,
+      1.82
+     ],
+     [
+      -2.38,
+      1.82
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0488_01.json b/data/spatial codes/ground truth/compact/scene0488_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..54067ac89774541ce4fba3c97c3f0b2530552b2c
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0488_01.json	
@@ -0,0 +1,284 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.63,
+      -1.55,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      2.72,
+      1.35,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.01
+      ],
+      [
+       0.25,
+       0.96,
+       -0.1
+      ],
+      [
+       0.02,
+       0.1,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      1.52,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      2.67,
+      1.19,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       0.32,
+       -0.04
+      ],
+      [
+       -0.33,
+       -0.94,
+       0.05
+      ],
+      [
+       -0.02,
+       0.06,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.8,
+      0.52,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      1.76,
+      1.07,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.01,
+       -1.0
+      ],
+      [
+       0.85,
+       0.53,
+       -0.03
+      ],
+      [
+       0.53,
+       -0.85,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      -0.83,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      1.75,
+      0.54,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       0.01,
+       -1.0
+      ],
+      [
+       -0.94,
+       -0.34,
+       0.03
+      ],
+      [
+       -0.34,
+       0.94,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.04,
+      -1.72,
+      1.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.47,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       0.24,
+       0.0
+      ],
+      [
+       0.0,
+       -0.03,
+       -1.0
+      ],
+      [
+       -0.24,
+       -0.97,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.92,
+      -1.13
+     ],
+     [
+      1.12,
+      -1.13
+     ],
+     [
+      1.12,
+      1.91
+     ],
+     [
+      -1.92,
+      1.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0494_00.json b/data/spatial codes/ground truth/compact/scene0494_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9c0a51fafeec082314501bff3511cd40dbf5e75
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0494_00.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": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.31,
+      -0.25,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.45,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.08,
+       0.61,
+       -0.79
+      ],
+      [
+       -0.13,
+       -0.79,
+       -0.6
+      ],
+      [
+       -0.99,
+       0.05,
+       0.14
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.01,
+      0.49,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.86,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.12,
+       0.11
+      ],
+      [
+       0.12,
+       0.07,
+       -0.99
+      ],
+      [
+       0.11,
+       0.99,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.98,
+      -0.21,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.45,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -0.62,
+       0.79
+      ],
+      [
+       0.27,
+       0.76,
+       0.6
+      ],
+      [
+       -0.96,
+       0.22,
+       0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.71,
+      0.89,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.69,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       0.29,
+       0.11
+      ],
+      [
+       -0.25,
+       -0.49,
+       -0.83
+      ],
+      [
+       -0.19,
+       -0.82,
+       0.54
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      0.27,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      1.5,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       -1.0,
+       -0.04
+      ],
+      [
+       0.04,
+       -0.05,
+       1.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      0.35,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.31,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       -0.03
+      ],
+      [
+       0.89,
+       0.45,
+       0.02
+      ],
+      [
+       0.03,
+       -0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.99,
+      -0.64,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      0.23,
+      1.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.0,
+       -1.0
+      ],
+      [
+       0.95,
+       -0.31,
+       -0.01
+      ],
+      [
+       -0.31,
+       -0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      0.25,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      1.22,
+      0.7,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.22,
+       -0.05
+      ],
+      [
+       -0.05,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.22,
+       0.98,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.93,
+      -1.45
+     ],
+     [
+      1.94,
+      -1.45
+     ],
+     [
+      1.94,
+      1.42
+     ],
+     [
+      -0.93,
+      1.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0496_00.json b/data/spatial codes/ground truth/compact/scene0496_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee787c82811fc0473eb555f31e17c7ed11ae0499
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0496_00.json	
@@ -0,0 +1,896 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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,
+      2.23,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.65,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.86,
+       0.52,
+       -0.02
+      ],
+      [
+       -0.52,
+       -0.85,
+       0.07
+      ],
+      [
+       0.02,
+       0.07,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.84,
+      1.85,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.59,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.38,
+       0.89
+      ],
+      [
+       0.81,
+       -0.58,
+       0.03
+      ],
+      [
+       0.53,
+       0.72,
+       -0.45
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.22,
+      -0.59,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.95,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       0.99,
+       -0.07
+      ],
+      [
+       0.01,
+       -0.07,
+       -1.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      -1.39,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.56,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       -0.99,
+       0.01
+      ],
+      [
+       -0.99,
+       -0.11,
+       -0.01
+      ],
+      [
+       0.01,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.45,
+      0.11,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      1.02,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.14,
+       0.98,
+       -0.12
+      ],
+      [
+       -0.08,
+       -0.11,
+       -0.99
+      ],
+      [
+       -0.99,
+       0.15,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.33,
+      1.84,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.72,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.73,
+       -0.68,
+       0.05
+      ],
+      [
+       -0.68,
+       0.72,
+       -0.11
+      ],
+      [
+       0.04,
+       -0.11,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      -1.59,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.92,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.91,
+       -0.41,
+       -0.03
+      ],
+      [
+       0.1,
+       -0.16,
+       -0.98
+      ],
+      [
+       0.4,
+       -0.9,
+       0.19
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.88,
+      2.2,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.4,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.41,
+       0.69,
+       0.59
+      ],
+      [
+       0.4,
+       -0.45,
+       0.8
+      ],
+      [
+       0.82,
+       0.56,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.15,
+      0.49,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.94,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.5,
+       0.01
+      ],
+      [
+       0.03,
+       -0.07,
+       1.0
+      ],
+      [
+       0.49,
+       -0.87,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      1.21,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      1.03,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       0.78,
+       0.06
+      ],
+      [
+       -0.34,
+       -0.2,
+       -0.92
+      ],
+      [
+       -0.7,
+       -0.59,
+       0.39
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.79,
+      -1.2,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.53,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       -0.02
+      ],
+      [
+       1.0,
+       0.03,
+       -0.05
+      ],
+      [
+       -0.05,
+       -0.03,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.07,
+      -0.91,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.53,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.77,
+       0.26,
+       -0.59
+      ],
+      [
+       -0.35,
+       -0.93,
+       0.05
+      ],
+      [
+       -0.53,
+       0.25,
+       0.81
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.78,
+      0.02,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.28,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.02
+      ],
+      [
+       0.36,
+       -0.04,
+       0.93
+      ],
+      [
+       0.93,
+       -0.04,
+       -0.37
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      1.51,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.49,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.51,
+       -0.86,
+       -0.07
+      ],
+      [
+       0.86,
+       -0.51,
+       0.01
+      ],
+      [
+       -0.04,
+       -0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.3,
+      0.68,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.29,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       -0.05
+      ],
+      [
+       0.07,
+       0.47,
+       0.88
+      ],
+      [
+       -0.04,
+       -0.88,
+       0.48
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.14,
+      -1.23,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.06,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.17,
+       -0.02
+      ],
+      [
+       0.02,
+       -0.02,
+       1.0
+      ],
+      [
+       0.17,
+       -0.99,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.1,
+      3.47,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.4,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       0.24,
+       -0.04
+      ],
+      [
+       0.24,
+       0.97,
+       -0.1
+      ],
+      [
+       0.01,
+       -0.11,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      3.48,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.61,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       -0.01
+      ],
+      [
+       0.3,
+       0.13,
+       0.95
+      ],
+      [
+       0.88,
+       0.35,
+       -0.32
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.15,
+      1.99,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.68,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.65,
+       -0.76,
+       0.06
+      ],
+      [
+       0.0,
+       0.08,
+       1.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.27,
+      1.1,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.22,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.1,
+       -0.97
+      ],
+      [
+       -0.98,
+       -0.06,
+       0.21
+      ],
+      [
+       -0.04,
+       0.99,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.34,
+      -2.44,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.45,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       -1.0,
+       0.07
+      ],
+      [
+       1.0,
+       0.03,
+       -0.06
+      ],
+      [
+       0.05,
+       0.07,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.04,
+      -2.48,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.36,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       -0.06
+      ],
+      [
+       -0.06,
+       -0.18,
+       -0.98
+      ],
+      [
+       -0.04,
+       0.98,
+       -0.18
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.86,
+      -2.73,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      1.27,
+      0.1,
+      1.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       -0.04,
+       -0.99
+      ],
+      [
+       0.08,
+       -1.0,
+       0.05
+      ],
+      [
+       -0.98,
+       -0.08,
+       -0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      -0.54,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      3.54,
+      1.64,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.07,
+       0.01
+      ],
+      [
+       -0.07,
+       1.0,
+       0.03
+      ],
+      [
+       -0.01,
+       0.03,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.16,
+      -2.42
+     ],
+     [
+      3.54,
+      -2.42
+     ],
+     [
+      3.54,
+      3.27
+     ],
+     [
+      -2.16,
+      3.27
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0500_00.json b/data/spatial codes/ground truth/compact/scene0500_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..21985728d5b9dedc448d6e36bc2fb24defb727f8
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0500_00.json	
@@ -0,0 +1,1630 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
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+       [
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+        [
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+      "unit": "meters",
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+      3.06,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.58,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.11,
+       0.99
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+       0.95,
+       -0.1
+      ],
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+       -0.95,
+       0.3,
+       -0.06
+      ]
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+    "first visible time": null
+   },
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+      3.4,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.85,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.95,
+       0.02
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+       -0.28,
+       -0.49
+      ],
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+       -0.13,
+       0.87
+      ]
+     ]
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+    "first visible time": null
+   },
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+      2.88,
+      0.62
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+     "3D oriented bounding box dimensions": [
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+      0.61
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.8,
+       0.17
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+    "first visible time": null
+   },
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+      2.35,
+      0.62
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+     "3D oriented bounding box dimensions": [
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+      0.72,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       -0.14
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+       0.23,
+       0.03
+      ]
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+    "first visible time": null
+   },
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+     "3D oriented bounding box center coordinates": [
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+      1.71,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36
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+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.02
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+       -0.06,
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+       -0.06,
+       0.53
+      ]
+     ]
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+   },
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+      1.12,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.67,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07,
+       -0.74
+      ],
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+       0.99,
+       0.03
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+       -0.12,
+       0.67
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.56,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.37,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.02
+      ],
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+       -0.04,
+       -0.51
+      ],
+      [
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+       0.01,
+       0.86
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      4.61,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.46,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.01
+      ],
+      [
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+       -0.02,
+       1.0
+      ],
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+       -0.21,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.36,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.67,
+      1.01,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -1.0,
+       0.06
+      ],
+      [
+       -0.08,
+       -0.06,
+       -1.0
+      ],
+      [
+       1.0,
+       -0.03,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.76,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.01,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       1.0
+      ],
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+       -1.0,
+       0.04
+      ],
+      [
+       1.0,
+       0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -4.07,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.04,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07,
+       0.01,
+       1.0
+      ],
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+       0.18,
+       -0.98,
+       0.02
+      ],
+      [
+       0.98,
+       0.18,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -5.86,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.28,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.05,
+       -1.0
+      ],
+      [
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+       0.18,
+       -0.02
+      ],
+      [
+       0.18,
+       0.98,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.42,
+      -0.31,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      1.07,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.04,
+       -1.0
+      ],
+      [
+       -0.25,
+       -0.97,
+       -0.04
+      ],
+      [
+       -0.97,
+       0.25,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.75,
+      3.21,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      0.73,
+      0.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       -0.98,
+       0.03
+      ],
+      [
+       0.02,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.98,
+       -0.19,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.23,
+      0.5,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      5.46,
+      1.81,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       -0.99,
+       0.0
+      ],
+      [
+       0.98,
+       -0.16,
+       0.08
+      ],
+      [
+       -0.08,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.4,
+      -4.02
+     ],
+     [
+      3.81,
+      -4.02
+     ],
+     [
+      3.81,
+      3.19
+     ],
+     [
+      -3.4,
+      3.19
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0518_00.json b/data/spatial codes/ground truth/compact/scene0518_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..642e3f0ccfb4d3408cf81835d321641030ada852
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0518_00.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": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      0.91,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.63,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.36,
+       0.52,
+       -0.77
+      ],
+      [
+       -0.7,
+       0.7,
+       0.14
+      ],
+      [
+       0.61,
+       0.49,
+       0.62
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      0.81,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.98,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.1,
+       -0.06
+      ],
+      [
+       0.03,
+       -0.71,
+       0.71
+      ],
+      [
+       -0.11,
+       0.7,
+       0.7
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      -0.94,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      2.29,
+      1.51,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       -0.01
+      ],
+      [
+       0.97,
+       -0.23,
+       0.05
+      ],
+      [
+       0.04,
+       -0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -1.58,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.37,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.49,
+       0.85,
+       -0.16
+      ],
+      [
+       0.77,
+       -0.34,
+       0.54
+      ],
+      [
+       0.4,
+       -0.39,
+       -0.83
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.15,
+      -1.67,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.34,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.98,
+       -0.15
+      ],
+      [
+       0.47,
+       0.09,
+       0.88
+      ],
+      [
+       0.88,
+       -0.17,
+       -0.45
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.27,
+      -0.09,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.26,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       -0.99,
+       -0.01
+      ],
+      [
+       0.98,
+       -0.17,
+       0.11
+      ],
+      [
+       -0.11,
+       0.01,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      0.78,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.51,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       -0.37,
+       0.87
+      ],
+      [
+       -0.69,
+       0.53,
+       0.48
+      ],
+      [
+       -0.64,
+       -0.76,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      1.36,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      2.08,
+      0.8,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.22,
+       0.01
+      ],
+      [
+       0.0,
+       0.03,
+       -1.0
+      ],
+      [
+       -0.22,
+       -0.98,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      -0.51,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.47,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       -0.98,
+       0.03
+      ],
+      [
+       -0.02,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.98,
+       -0.2,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.46,
+      -2.09
+     ],
+     [
+      2.05,
+      -2.09
+     ],
+     [
+      2.05,
+      1.42
+     ],
+     [
+      -1.46,
+      1.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0550_00.json b/data/spatial codes/ground truth/compact/scene0550_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f42db6feaaa1b969c95f0e4433a29b61e6a8db3
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0550_00.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": {
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      -1.21,
+      1.36
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+   }
+  ],
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+      -0.11,
+      1.43
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
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+      -0.91,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.64,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
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+      ],
+      [
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+       -0.07,
+       1.0
+      ],
+      [
+       0.03,
+       -1.0,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.8,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+      ],
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+       -0.08,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.6,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.7,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
+       1.0
+      ],
+      [
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+       -0.06,
+       0.04
+      ],
+      [
+       0.06,
+       -1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.3,
+      -1.16
+     ],
+     [
+      1.3,
+      -1.16
+     ],
+     [
+      1.3,
+      1.43
+     ],
+     [
+      -1.3,
+      1.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0553_00.json b/data/spatial codes/ground truth/compact/scene0553_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..05cd3a600ddff643dba067d4b4c35231a961ae01
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0553_00.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": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
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+      0.6,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ],
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+       -0.95,
+       0.0
+      ],
+      [
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+       0.32,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
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+    "3D oriented bounding box": {
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+      -0.9,
+      1.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.59,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       1.0
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+       0.3,
+       0.03
+      ],
+      [
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+       0.95,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
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+      0.92,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.26,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       -1.0
+      ],
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+       -0.94,
+       -0.04
+      ],
+      [
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+       -0.33,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.58,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.88,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.09
+      ],
+      [
+       0.05,
+       -0.08,
+       1.0
+      ],
+      [
+       0.96,
+       0.29,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.12,
+      -1.18
+     ],
+     [
+      1.2,
+      -1.18
+     ],
+     [
+      1.2,
+      1.14
+     ],
+     [
+      -1.12,
+      1.14
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0565_00.json b/data/spatial codes/ground truth/compact/scene0565_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec16d6d854eb20cd22932c3ecfc40213fa3f243
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0565_00.json	
@@ -0,0 +1,806 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      0.35,
+      0.62
+     ],
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+      0.58,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.17,
+       0.98
+      ],
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+       -0.71,
+       0.1
+      ],
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+       -0.68,
+       0.15
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      -0.14,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.37,
+       0.85
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+       0.86,
+       0.47
+      ],
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+       -0.34,
+       0.26
+      ]
+     ]
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+    "first visible time": null
+   },
+   {
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+      0.84,
+      0.56
+     ],
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+      0.65,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04
+      ],
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+       0.9,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      0.15,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+      ],
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+       0.93,
+       -0.23
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
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+    "3D oriented bounding box": {
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+      -2.1,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.98,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.02,
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+      ],
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+       0.11,
+       0.02
+      ],
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+       0.99,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -2.31,
+      1.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.82,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.16,
+       -0.05
+      ],
+      [
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+       0.27,
+       -0.96
+      ],
+      [
+       -0.13,
+       0.95,
+       0.28
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -2.47,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.83,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.06,
+       0.03
+      ],
+      [
+       0.03,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
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+      1.02,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.71,
+       0.09
+      ],
+      [
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+       0.25,
+       0.96
+      ],
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+       0.66,
+       -0.27
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      0.18,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.12,
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+      ],
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+      ],
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+       -0.96,
+       -0.24
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      0.34,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.57,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+      ],
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+       0.03,
+       -0.96
+      ],
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+       -0.11,
+       0.26
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      0.75,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.14
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "printer": [
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+      -0.56,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.59,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.12,
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+       0.02
+      ],
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+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+      0.24,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.5,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.1,
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+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.56,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.59,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.12,
+       0.03
+      ],
+      [
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+       0.99,
+       0.02
+      ],
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+       -0.02,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.24,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.5,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.1,
+       -0.01
+      ],
+      [
+       -0.1,
+       0.99,
+       0.02
+      ],
+      [
+       0.01,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.73,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
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+      ],
+      [
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+       0.05,
+       -1.0
+      ],
+      [
+       1.0,
+       -0.03,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      -1.93,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.69,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       -0.05
+      ],
+      [
+       -0.05,
+       -0.04,
+       -1.0
+      ],
+      [
+       -0.1,
+       0.99,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.08,
+      -1.13,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      1.39,
+      0.54,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -0.04,
+       1.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.04
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.42,
+      -2.2,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      1.65,
+      0.72,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.03,
+       -0.98
+      ],
+      [
+       0.98,
+       0.04,
+       -0.19
+      ],
+      [
+       0.03,
+       -1.0,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.03,
+      -0.04,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      1.05,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.22,
+       -0.07
+      ],
+      [
+       0.07,
+       0.01,
+       1.0
+      ],
+      [
+       0.22,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.5,
+      0.29,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.81,
+      2.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.02,
+       -1.0
+      ],
+      [
+       1.0,
+       0.09,
+       0.02
+      ],
+      [
+       0.09,
+       -1.0,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.59,
+      -2.62
+     ],
+     [
+      2.12,
+      -2.62
+     ],
+     [
+      2.12,
+      2.09
+     ],
+     [
+      -2.59,
+      2.09
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0568_02.json b/data/spatial codes/ground truth/compact/scene0568_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1190aefe8ebb67ddd6295190fa83354d06a35cb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0568_02.json	
@@ -0,0 +1,450 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.7,
+      -2.7,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.53,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.33,
+       -0.94,
+       -0.02
+      ],
+      [
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+       -0.33,
+       -0.06
+      ],
+      [
+       0.05,
+       0.03,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.83,
+      -2.22,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.6,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.12,
+       -0.64
+      ],
+      [
+       -0.11,
+       0.99,
+       0.06
+      ],
+      [
+       0.65,
+       0.03,
+       0.76
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.8,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.53,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.08,
+       -1.0,
+       0.02
+      ],
+      [
+       -0.04,
+       0.03,
+       1.0
+      ],
+      [
+       -1.0,
+       0.08,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.27,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.24,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       0.28,
+       -0.07
+      ],
+      [
+       0.2,
+       0.47,
+       -0.86
+      ],
+      [
+       -0.21,
+       -0.84,
+       -0.5
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.76,
+      -0.28,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      3.0,
+      0.85,
+      1.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       -0.31,
+       -0.06
+      ],
+      [
+       0.06,
+       0.0,
+       -1.0
+      ],
+      [
+       0.31,
+       -0.95,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.13,
+      -3.24,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      1.56,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.14,
+       -0.08
+      ],
+      [
+       0.06,
+       0.14,
+       -0.99
+      ],
+      [
+       0.15,
+       -0.98,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.05,
+      2.36,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.72,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.16,
+       -0.02
+      ],
+      [
+       0.04,
+       -0.11,
+       -0.99
+      ],
+      [
+       0.16,
+       -0.98,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.28,
+      2.99,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      1.93,
+      0.21,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       -0.29,
+       -0.03
+      ],
+      [
+       -0.03,
+       -0.03,
+       1.0
+      ],
+      [
+       -0.29,
+       0.96,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.31,
+      1.15,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      1.36,
+      0.73,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.28,
+       0.08
+      ],
+      [
+       0.28,
+       -0.96,
+       -0.06
+      ],
+      [
+       0.06,
+       0.08,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.47,
+      2.85,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.83,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       -0.04,
+       -1.0
+      ],
+      [
+       0.29,
+       -0.96,
+       0.06
+      ],
+      [
+       -0.96,
+       -0.29,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.39,
+      -3.14
+     ],
+     [
+      3.45,
+      -3.14
+     ],
+     [
+      3.45,
+      2.71
+     ],
+     [
+      -2.39,
+      2.71
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0574_01.json b/data/spatial codes/ground truth/compact/scene0574_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb76567c02f7f3eb378c0241d8890e45a366773
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0574_01.json	
@@ -0,0 +1,382 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -0.88,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.41,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.02
+      ],
+      [
+       0.0,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      -1.03,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.23,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       -0.1,
+       -0.99
+      ],
+      [
+       -0.62,
+       0.77,
+       -0.15
+      ],
+      [
+       0.77,
+       0.63,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      -0.7,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.21,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.12,
+       -0.99
+      ],
+      [
+       -0.09,
+       -0.99,
+       -0.12
+      ],
+      [
+       -0.99,
+       0.1,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      -0.87,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.16,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.06,
+       -0.98
+      ],
+      [
+       0.48,
+       0.87,
+       -0.04
+      ],
+      [
+       0.85,
+       -0.48,
+       -0.2
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      -1.2,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.29,
+      0.42,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.01,
+       -0.13
+      ],
+      [
+       -0.13,
+       0.25,
+       0.96
+      ],
+      [
+       0.02,
+       0.97,
+       -0.25
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      -0.58,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.32,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.99,
+       -0.1
+      ],
+      [
+       -0.02,
+       0.1,
+       -0.99
+      ],
+      [
+       1.0,
+       -0.04,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      0.76,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.85,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       0.01,
+       1.0
+      ],
+      [
+       1.0,
+       0.08,
+       -0.06
+      ],
+      [
+       -0.08,
+       1.0,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.8,
+      -0.14,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.94,
+      0.59,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.03,
+       -1.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.03
+      ],
+      [
+       1.0,
+       0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.21,
+      -1.22
+     ],
+     [
+      0.79,
+      -1.22
+     ],
+     [
+      0.79,
+      0.78
+     ],
+     [
+      -1.21,
+      0.78
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0575_01.json b/data/spatial codes/ground truth/compact/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d547fc8f55ccb915475b1f958d1c83d5b3e1420
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0575_01.json	
@@ -0,0 +1,642 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -0.06,
+      0.84,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.71,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.5,
+       0.02
+      ],
+      [
+       0.5,
+       -0.86,
+       -0.06
+      ],
+      [
+       -0.02,
+       0.06,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.73,
+      0.83,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.75,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.05,
+       1.0
+      ],
+      [
+       0.17,
+       -0.98,
+       -0.05
+      ],
+      [
+       0.98,
+       0.17,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.4,
+      0.34,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.66,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.45,
+       0.89,
+       0.05
+      ],
+      [
+       -0.02,
+       -0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.85,
+      -1.46,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      1.13,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.08,
+       -0.09
+      ],
+      [
+       -0.09,
+       0.0,
+       1.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      0.62,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      1.12,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.08,
+       -0.05,
+       1.0
+      ],
+      [
+       0.85,
+       -0.51,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.78,
+      -0.79,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      1.06,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       -0.35,
+       0.06
+      ],
+      [
+       -0.08,
+       0.03,
+       -1.0
+      ],
+      [
+       0.35,
+       -0.94,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.82,
+      -1.09,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      1.11,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.69,
+       -0.72,
+       0.05
+      ],
+      [
+       -0.04,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.72,
+       -0.69,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.83,
+      -0.6,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      1.08,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.9,
+       -0.13
+      ],
+      [
+       0.06,
+       -0.11,
+       -0.99
+      ],
+      [
+       -0.9,
+       -0.43,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      -1.29,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      1.07,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       -0.27,
+       -0.02
+      ],
+      [
+       0.04,
+       -0.07,
+       -1.0
+      ],
+      [
+       0.27,
+       -0.96,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.45,
+      1.61,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.94,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.02,
+       -0.07,
+       -1.0
+      ],
+      [
+       0.22,
+       -0.97,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.19,
+      1.65,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      2.46,
+      1.69,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.22,
+       0.01
+      ],
+      [
+       -0.04,
+       -0.11,
+       0.99
+      ],
+      [
+       -0.22,
+       -0.97,
+       -0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.4,
+      1.24,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.36,
+      0.88,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       -0.97,
+       0.03
+      ],
+      [
+       -0.05,
+       0.04,
+       1.0
+      ],
+      [
+       -0.97,
+       0.25,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.68,
+      0.13,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.65,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.96,
+       -0.14
+      ],
+      [
+       0.19,
+       -0.19,
+       -0.96
+      ],
+      [
+       -0.95,
+       0.2,
+       -0.22
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.78,
+      -0.44,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.26,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       0.97,
+       -0.06
+      ],
+      [
+       -0.96,
+       0.26,
+       0.07
+      ],
+      [
+       0.08,
+       0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.7,
+      1.15,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
+      2.13,
+      1.15,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.01,
+       -1.0
+      ],
+      [
+       0.93,
+       -0.37,
+       -0.01
+      ],
+      [
+       -0.37,
+       -0.93,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      -0.06,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      2.65,
+      1.13,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.01
+      ],
+      [
+       -0.21,
+       -0.98,
+       -0.05
+      ],
+      [
+       0.03,
+       0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.23,
+      -2.26
+     ],
+     [
+      2.37,
+      -2.26
+     ],
+     [
+      2.37,
+      2.34
+     ],
+     [
+      -2.23,
+      2.34
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0580_01.json b/data/spatial codes/ground truth/compact/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..3de90219440d160e42e9ef9ff36fd0a9d3d38475
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0580_01.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": [
+      -0.11,
+      0.61,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      1.49,
+      2.23,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.82,
+       0.57,
+       0.06
+      ],
+      [
+       0.57,
+       0.82,
+       -0.02
+      ],
+      [
+       -0.06,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      0.55,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.61,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.04,
+       0.99
+      ],
+      [
+       0.59,
+       0.8,
+       -0.12
+      ],
+      [
+       -0.79,
+       0.6,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      -0.44,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.89,
+      0.36,
+      2.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.83,
+       -0.07
+      ],
+      [
+       -0.82,
+       0.56,
+       0.1
+      ],
+      [
+       0.12,
+       0.0,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.2,
+      -1.46,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      0.32,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.81,
+       0.59,
+       0.09
+      ],
+      [
+       0.58,
+       0.81,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      1.3,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.48,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.41,
+       -0.03
+      ],
+      [
+       0.41,
+       0.91,
+       0.1
+      ],
+      [
+       -0.01,
+       -0.1,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.58,
+      0.95,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.72,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       -0.78,
+       -0.03
+      ],
+      [
+       -0.78,
+       0.62,
+       0.09
+      ],
+      [
+       -0.05,
+       0.08,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      1.82,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.44,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.27,
+       -0.96
+      ],
+      [
+       0.68,
+       0.68,
+       0.27
+      ],
+      [
+       0.72,
+       -0.69,
+       -0.11
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      1.75,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.55,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       0.52,
+       0.68
+      ],
+      [
+       0.78,
+       -0.62,
+       -0.1
+      ],
+      [
+       0.37,
+       0.58,
+       -0.72
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.69,
+      1.25,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.29,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.72,
+       0.32,
+       -0.61
+      ],
+      [
+       -0.69,
+       -0.29,
+       0.66
+      ],
+      [
+       0.04,
+       0.9,
+       0.43
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.35,
+      0.64,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.37,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.63,
+       0.63
+      ],
+      [
+       -0.81,
+       0.58,
+       0.02
+      ],
+      [
+       -0.36,
+       -0.52,
+       0.78
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.8,
+      -1.06,
+      1.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.95,
+      1.03,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       -0.58,
+       -0.14
+      ],
+      [
+       0.09,
+       -0.11,
+       0.99
+      ],
+      [
+       -0.59,
+       -0.81,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      -1.46,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.25,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.95,
+       -0.32
+      ],
+      [
+       -0.94,
+       0.13,
+       0.32
+      ],
+      [
+       0.34,
+       0.29,
+       0.89
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      1.01,
+      1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      2.1,
+      1.01,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.04,
+       0.98
+      ],
+      [
+       -0.56,
+       -0.81,
+       0.15
+      ],
+      [
+       0.8,
+       -0.58,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.77,
+      0.13,
+      1.42
+     ],
+     "3D oriented bounding box dimensions": [
+      2.01,
+      1.03,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       -0.07,
+       0.99
+      ],
+      [
+       0.48,
+       0.88,
+       0.03
+      ],
+      [
+       -0.88,
+       0.47,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -0.05,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.51,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.07,
+       -0.99
+      ],
+      [
+       0.98,
+       -0.19,
+       -0.1
+      ],
+      [
+       -0.2,
+       -0.98,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.62,
+      -1.31
+     ],
+     [
+      1.42,
+      -1.31
+     ],
+     [
+      1.42,
+      1.74
+     ],
+     [
+      -1.62,
+      1.74
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0591_01.json b/data/spatial codes/ground truth/compact/scene0591_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..b973a3e89cb5b13276d4adcf282bb24f1798c04f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0591_01.json	
@@ -0,0 +1,848 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      -0.53,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.37,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.28,
+       -0.96
+      ],
+      [
+       -0.57,
+       0.79,
+       -0.24
+      ],
+      [
+       0.82,
+       0.55,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      1.22,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      1.01,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.24,
+       -0.1
+      ],
+      [
+       -0.08,
+       -0.09,
+       -0.99
+      ],
+      [
+       -0.25,
+       0.97,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.36,
+      0.84,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      1.53,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       -0.96,
+       -0.1
+      ],
+      [
+       -0.97,
+       -0.24,
+       -0.1
+      ],
+      [
+       0.07,
+       0.12,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.59,
+      0.79,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      3.46,
+      1.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.24,
+       0.0
+      ],
+      [
+       -0.24,
+       0.97,
+       0.05
+      ],
+      [
+       0.02,
+       -0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      1.01,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.12,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       -0.33,
+       -0.1
+      ],
+      [
+       0.27,
+       -0.89,
+       0.37
+      ],
+      [
+       -0.21,
+       0.32,
+       0.92
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.71,
+      0.64,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.46,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.02,
+       -0.38
+      ],
+      [
+       -0.11,
+       0.98,
+       -0.19
+      ],
+      [
+       0.37,
+       0.22,
+       0.9
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.14,
+      0.17,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.14,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.15,
+       0.02
+      ],
+      [
+       -0.12,
+       0.88,
+       0.45
+      ],
+      [
+       -0.09,
+       0.44,
+       -0.89
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      0.55,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.65,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.1,
+       1.0
+      ],
+      [
+       1.0,
+       -0.05,
+       -0.01
+      ],
+      [
+       0.05,
+       0.99,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.5,
+      0.64,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.15,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       -0.02
+      ],
+      [
+       -0.31,
+       0.95,
+       0.02
+      ],
+      [
+       0.03,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      0.02,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.38,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.83,
+       -0.56,
+       -0.01
+      ],
+      [
+       0.0,
+       0.03,
+       -1.0
+      ],
+      [
+       0.56,
+       -0.83,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      1.77,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.36,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.42,
+       -0.25,
+       -0.87
+      ],
+      [
+       0.52,
+       -0.73,
+       0.45
+      ],
+      [
+       -0.75,
+       -0.64,
+       -0.18
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.4,
+      0.78,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.31,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       -0.03
+      ],
+      [
+       -0.12,
+       -0.58,
+       -0.8
+      ],
+      [
+       0.11,
+       0.8,
+       -0.59
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.42,
+      0.86,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.19,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.29,
+       -0.02
+      ],
+      [
+       -0.29,
+       0.96,
+       -0.05
+      ],
+      [
+       0.0,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      -0.04,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.2,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.17,
+       0.03
+      ],
+      [
+       0.17,
+       -0.99,
+       -0.04
+      ],
+      [
+       0.02,
+       0.04,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.99,
+      -0.8,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.43,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.14,
+       -0.99,
+       -0.04
+      ],
+      [
+       -0.99,
+       0.14,
+       -0.01
+      ],
+      [
+       0.02,
+       0.04,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.95,
+      0.62,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.34,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.73,
+       -0.2
+      ],
+      [
+       -0.72,
+       -0.68,
+       -0.16
+      ],
+      [
+       -0.25,
+       0.04,
+       0.97
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.73,
+      2.02,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.3,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       -0.32,
+       0.02
+      ],
+      [
+       -0.02,
+       0.0,
+       -1.0
+      ],
+      [
+       0.32,
+       -0.95,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.55,
+      -1.45,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.37,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.24,
+       0.97,
+       0.0
+      ],
+      [
+       0.97,
+       0.24,
+       -0.04
+      ],
+      [
+       -0.04,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      0.85,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.07,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       -0.93,
+       -0.02
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.01
+      ],
+      [
+       -0.01,
+       0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 12.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.46,
+      -0.73,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      2.18,
+      1.2,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.01,
+       1.0
+      ],
+      [
+       0.3,
+       -0.95,
+       0.03
+      ],
+      [
+       0.95,
+       0.3,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      -0.17,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      2.07,
+      1.25,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       -0.01
+      ],
+      [
+       0.3,
+       -0.93,
+       -0.23
+      ],
+      [
+       -0.08,
+       0.21,
+       -0.97
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.87,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      2.36,
+      1.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       0.05,
+       -1.0
+      ],
+      [
+       0.97,
+       0.22,
+       0.09
+      ],
+      [
+       0.23,
+       -0.97,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.98,
+      -1.99
+     ],
+     [
+      2.24,
+      -1.99
+     ],
+     [
+      2.24,
+      2.23
+     ],
+     [
+      -1.98,
+      2.23
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0593_00.json b/data/spatial codes/ground truth/compact/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66ff9b760c3c3fa8b7626dfa145ab36641cf844
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0593_00.json	
@@ -0,0 +1,486 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.23,
+      -0.18,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.82,
+      0.72,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.02
+      ],
+      [
+       0.1,
+       0.02,
+       -0.99
+      ],
+      [
+       -0.99,
+       0.02,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.81,
+      1.03,
+      1.62
+     ],
+     "3D oriented bounding box dimensions": [
+      1.58,
+      1.19,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       0.02,
+       1.0
+      ],
+      [
+       0.0,
+       -1.0,
+       0.02
+      ],
+      [
+       1.0,
+       0.0,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.9,
+      -0.4,
+      1.29
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      1.27,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.07,
+       -0.99
+      ],
+      [
+       0.12,
+       0.99,
+       0.09
+      ],
+      [
+       0.99,
+       -0.12,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      1.83,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.54,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.03,
+       0.14
+      ],
+      [
+       0.08,
+       0.93,
+       0.37
+      ],
+      [
+       -0.12,
+       0.38,
+       -0.92
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      1.83,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.54,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.03,
+       0.14
+      ],
+      [
+       0.08,
+       0.93,
+       0.37
+      ],
+      [
+       -0.12,
+       0.38,
+       -0.92
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.24,
+      0.24,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.46,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.88,
+       -0.26,
+       -0.4
+      ],
+      [
+       0.2,
+       -0.96,
+       0.18
+      ],
+      [
+       -0.43,
+       0.08,
+       0.9
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      1.19,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.54,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       0.08,
+       -1.0
+      ],
+      [
+       -0.94,
+       -0.34,
+       -0.07
+      ],
+      [
+       -0.34,
+       0.94,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.35,
+      -1.04,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.31,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.11,
+       0.99
+      ],
+      [
+       0.97,
+       -0.24,
+       -0.09
+      ],
+      [
+       0.23,
+       0.96,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.42,
+      1.4,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.98,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       -0.99,
+       -0.03
+      ],
+      [
+       -0.13,
+       0.04,
+       -0.99
+      ],
+      [
+       0.98,
+       -0.13,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.2,
+      1.8,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      0.94,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.99,
+       -0.14,
+       -0.06
+      ],
+      [
+       -0.14,
+       -0.99,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.3,
+      -1.51,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      1.08,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.16,
+       -0.14
+      ],
+      [
+       -0.06,
+       -0.83,
+       -0.55
+      ],
+      [
+       -0.21,
+       -0.53,
+       0.82
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.95,
+      -2.13
+     ],
+     [
+      2.6,
+      -2.13
+     ],
+     [
+      2.6,
+      2.42
+     ],
+     [
+      -1.95,
+      2.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0598_02.json b/data/spatial codes/ground truth/compact/scene0598_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6a3f8fbb3b87002de122f4abf84a0f2fac8e639
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0598_02.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": {
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.69,
+      -0.87,
+      1.36
+     ],
+     "3D oriented bounding box dimensions": [
+      3.96,
+      2.42,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.08,
+       -0.06
+      ],
+      [
+       -0.05,
+       0.09,
+       -0.99
+      ],
+      [
+       0.09,
+       0.99,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.06,
+      0.65,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
+      2.93,
+      2.29,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.08,
+       0.03
+      ],
+      [
+       0.03,
+       -0.02,
+       1.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.24,
+      -1.67
+     ],
+     [
+      1.71,
+      -1.67
+     ],
+     [
+      1.71,
+      2.28
+     ],
+     [
+      -2.24,
+      2.28
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0608_00.json b/data/spatial codes/ground truth/compact/scene0608_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6ccbdab11b3444020ebd99f2da6a674c7289427
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0608_00.json	
@@ -0,0 +1,716 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      0.97,
+      -0.89,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.74,
+      1.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.89,
+       -0.05
+      ],
+      [
+       0.11,
+       -0.11,
+       -0.99
+      ],
+      [
+       -0.88,
+       0.45,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.18,
+      -1.91,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      1.23,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.67,
+       -0.69
+      ],
+      [
+       0.94,
+       0.33,
+       -0.05
+      ],
+      [
+       0.2,
+       -0.67,
+       -0.72
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      0.68,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.84,
+      1.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -1.0,
+       0.05
+      ],
+      [
+       -0.21,
+       0.05,
+       0.98
+      ],
+      [
+       -0.98,
+       0.0,
+       -0.21
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.6,
+      -0.6,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      2.34,
+      1.14,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.99,
+       -0.07
+      ],
+      [
+       -0.96,
+       0.17,
+       0.24
+      ],
+      [
+       0.24,
+       0.03,
+       0.97
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.39,
+      2.18,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      1.36,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.12,
+       0.06
+      ],
+      [
+       -0.06,
+       -0.01,
+       1.0
+      ],
+      [
+       -0.12,
+       -0.99,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      -0.19,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.44,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       -0.99,
+       -0.07
+      ],
+      [
+       0.99,
+       0.11,
+       -0.04
+      ],
+      [
+       0.05,
+       -0.07,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.98,
+      -1.08,
+      1.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.15,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.1,
+       0.08
+      ],
+      [
+       0.08,
+       0.03,
+       -1.0
+      ],
+      [
+       0.1,
+       0.99,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -1.81,
+      1.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.28,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.51,
+       -0.32,
+       -0.8
+      ],
+      [
+       -0.74,
+       0.63,
+       0.23
+      ],
+      [
+       0.43,
+       0.71,
+       -0.56
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.06,
+      1.35,
+      1.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.25,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.05,
+       -1.0
+      ],
+      [
+       -0.78,
+       -0.62,
+       -0.03
+      ],
+      [
+       -0.62,
+       0.78,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.26,
+      1.59,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.32,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.01,
+       -0.96
+      ],
+      [
+       -0.82,
+       -0.53,
+       -0.24
+      ],
+      [
+       -0.51,
+       0.85,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      1.58,
+      2.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.93,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       -0.34,
+       -0.87
+      ],
+      [
+       0.27,
+       0.93,
+       -0.24
+      ],
+      [
+       0.89,
+       -0.15,
+       0.44
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.45,
+      1.37,
+      1.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.93,
+      0.69,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       -0.21,
+       0.97
+      ],
+      [
+       0.44,
+       0.86,
+       0.24
+      ],
+      [
+       -0.89,
+       0.46,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.35,
+      1.64,
+      1.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.54,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       -0.02
+      ],
+      [
+       0.0,
+       0.07,
+       -1.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "guitar": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      1.16,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.39,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       0.05,
+       0.86
+      ],
+      [
+       -0.34,
+       0.93,
+       0.15
+      ],
+      [
+       -0.79,
+       -0.37,
+       0.49
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.19,
+      -2.29,
+      1.89
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      1.41,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.81,
+       -0.58
+      ],
+      [
+       0.05,
+       0.58,
+       0.81
+      ],
+      [
+       1.0,
+       0.02,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.29,
+      -0.43,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.65,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       -1.0,
+       0.05
+      ],
+      [
+       -1.0,
+       0.05,
+       0.06
+      ],
+      [
+       -0.06,
+       -0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      1.69,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      1.01,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       0.01,
+       -1.0
+      ],
+      [
+       0.98,
+       -0.19,
+       -0.05
+      ],
+      [
+       -0.19,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      -1.59,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.61,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       -0.16,
+       0.61
+      ],
+      [
+       -0.55,
+       -0.63,
+       0.54
+      ],
+      [
+       0.3,
+       -0.76,
+       -0.58
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.01,
+      -3.05
+     ],
+     [
+      2.7,
+      -3.05
+     ],
+     [
+      2.7,
+      1.66
+     ],
+     [
+      -2.01,
+      1.66
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0616_01.json b/data/spatial codes/ground truth/compact/scene0616_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f774ff7725c7b9a6833cf782e26eed5ac04328
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0616_01.json	
@@ -0,0 +1,644 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      -1.57,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.76,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       -1.0,
+       0.04
+      ],
+      [
+       0.0,
+       -0.04,
+       -1.0
+      ],
+      [
+       1.0,
+       0.06,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.17,
+      -1.67,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.59,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.04
+      ],
+      [
+       0.18,
+       -0.03,
+       0.98
+      ],
+      [
+       0.98,
+       0.07,
+       -0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      -0.65,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.23,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.44,
+       0.89,
+       -0.08
+      ],
+      [
+       0.4,
+       -0.27,
+       -0.87
+      ],
+      [
+       -0.8,
+       0.35,
+       -0.48
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      0.8,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.54,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.07,
+       -0.51
+      ],
+      [
+       0.0,
+       0.99,
+       -0.14
+      ],
+      [
+       0.52,
+       0.12,
+       0.85
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.96,
+      0.15,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.47,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       -0.88,
+       0.03
+      ],
+      [
+       -0.88,
+       -0.47,
+       -0.01
+      ],
+      [
+       0.02,
+       -0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      1.43,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.78,
+      1.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.73,
+       -0.01
+      ],
+      [
+       0.07,
+       0.06,
+       -1.0
+      ],
+      [
+       -0.73,
+       -0.68,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.61,
+      0.71,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.99,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       -0.74,
+       0.0
+      ],
+      [
+       0.74,
+       0.68,
+       0.04
+      ],
+      [
+       -0.02,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.96,
+      -0.79,
+      1.83
+     ],
+     "3D oriented bounding box dimensions": [
+      1.31,
+      1.43,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       0.74,
+       -0.01
+      ],
+      [
+       0.03,
+       0.04,
+       1.0
+      ],
+      [
+       0.74,
+       0.67,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      -2.54,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.62,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.97,
+       -0.05
+      ],
+      [
+       -0.08,
+       0.08,
+       0.99
+      ],
+      [
+       0.97,
+       -0.23,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.99,
+      -1.38,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      4.74,
+      0.74,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.67,
+       -0.74,
+       -0.03
+      ],
+      [
+       0.04,
+       0.0,
+       1.0
+      ],
+      [
+       -0.74,
+       -0.68,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.35,
+      0.21,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.42,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.01,
+       -0.99
+      ],
+      [
+       0.74,
+       -0.67,
+       0.12
+      ],
+      [
+       -0.66,
+       -0.75,
+       -0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.58,
+      -0.07,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.32,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       -0.72,
+       -0.02
+      ],
+      [
+       0.72,
+       0.7,
+       -0.03
+      ],
+      [
+       0.03,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.71,
+      2.54,
+      1.49
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.37,
+      2.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       0.74,
+       -0.05
+      ],
+      [
+       -0.74,
+       -0.67,
+       -0.02
+      ],
+      [
+       -0.05,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.5,
+      -1.5,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      2.11,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       0.66,
+       -0.07
+      ],
+      [
+       0.1,
+       -0.01,
+       1.0
+      ],
+      [
+       0.66,
+       -0.75,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      -2.35,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      1.02,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.94,
+       -0.18
+      ],
+      [
+       0.3,
+       -0.26,
+       -0.92
+      ],
+      [
+       -0.91,
+       0.2,
+       -0.36
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      -0.52,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      1.06,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.51,
+       -0.02
+      ],
+      [
+       0.51,
+       0.86,
+       -0.02
+      ],
+      [
+       0.03,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.93,
+      -2.4
+     ],
+     [
+      2.64,
+      -2.4
+     ],
+     [
+      2.64,
+      2.17
+     ],
+     [
+      -1.93,
+      2.17
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0621_00.json b/data/spatial codes/ground truth/compact/scene0621_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..2231683d48c89dec4f4a3333e2d77b9ec120b648
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0621_00.json	
@@ -0,0 +1,1180 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      -0.39,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      1.22,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.02
+      ],
+      [
+       0.02,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.32,
+      -0.66,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      1.18,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.42,
+       -0.12
+      ],
+      [
+       0.41,
+       -0.91,
+       -0.04
+      ],
+      [
+       -0.12,
+       -0.01,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      1.39,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.99,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       -0.33,
+       -0.03
+      ],
+      [
+       0.33,
+       -0.94,
+       -0.1
+      ],
+      [
+       0.01,
+       -0.11,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.52,
+      -2.88
+     ],
+     [
+      3.06,
+      -2.88
+     ],
+     [
+      3.06,
+      2.7
+     ],
+     [
+      -2.52,
+      2.7
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0629_01.json b/data/spatial codes/ground truth/compact/scene0629_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f296b488572da7edaecb0dbe44402456f8bc11
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0629_01.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.52,
+      0.07,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      2.03,
+      1.54,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       -1.0,
+       0.01
+      ],
+      [
+       -0.28,
+       0.01,
+       -0.96
+      ],
+      [
+       0.96,
+       -0.09,
+       -0.28
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.22,
+      2.5,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.85,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.08,
+       -1.0
+      ],
+      [
+       0.94,
+       -0.35,
+       -0.03
+      ],
+      [
+       -0.35,
+       -0.93,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.55,
+      1.55,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.42,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.05,
+       -0.99
+      ],
+      [
+       -0.97,
+       -0.22,
+       0.08
+      ],
+      [
+       -0.21,
+       0.97,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.76,
+      1.59,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      1.66,
+      0.71,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.99,
+       0.13,
+       0.04
+      ],
+      [
+       0.13,
+       0.99,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      -2.19,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.98,
+      0.76,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.02,
+       -1.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.01
+      ],
+      [
+       -0.04,
+       1.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      1.96,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      2.0,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.53,
+       -0.15
+      ],
+      [
+       -0.11,
+       0.1,
+       -0.99
+      ],
+      [
+       0.54,
+       0.84,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.34,
+      2.3,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.89,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.04,
+       -0.15
+      ],
+      [
+       0.03,
+       1.0,
+       0.08
+      ],
+      [
+       0.15,
+       0.07,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.5,
+      1.53,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.58,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.05,
+       1.0
+      ],
+      [
+       1.0,
+       0.07,
+       -0.01
+      ],
+      [
+       -0.07,
+       1.0,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.44,
+      -1.8
+     ],
+     [
+      2.46,
+      -1.8
+     ],
+     [
+      2.46,
+      3.09
+     ],
+     [
+      -2.44,
+      3.09
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0633_00.json b/data/spatial codes/ground truth/compact/scene0633_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..525e1b08fbaa63cf898b43b20b0d5dea2505e707
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0633_00.json	
@@ -0,0 +1,322 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -1.08,
+      -0.54,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.46,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       0.26,
+       -0.61
+      ],
+      [
+       -0.58,
+       -0.18,
+       -0.8
+      ],
+      [
+       -0.32,
+       0.95,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.13,
+      0.45,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.42,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.14,
+       -0.19,
+       -0.97
+      ],
+      [
+       -0.41,
+       -0.88,
+       0.23
+      ],
+      [
+       -0.9,
+       0.43,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.21,
+      -0.54,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.43,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       -0.98,
+       0.01
+      ],
+      [
+       0.56,
+       0.11,
+       -0.82
+      ],
+      [
+       0.81,
+       0.17,
+       0.57
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.49,
+      -0.58,
+      1.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.34,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       -0.07,
+       0.98
+      ],
+      [
+       0.16,
+       -0.99,
+       -0.04
+      ],
+      [
+       0.97,
+       0.15,
+       0.2
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      0.92,
+      1.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.25,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.03,
+       1.0
+      ],
+      [
+       0.87,
+       -0.49,
+       0.01
+      ],
+      [
+       0.49,
+       0.87,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.06,
+      0.35,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.73,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.87,
+       0.49,
+       0.04
+      ],
+      [
+       -0.03,
+       0.04,
+       -1.0
+      ],
+      [
+       -0.49,
+       -0.87,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.17,
+      -1.46
+     ],
+     [
+      1.71,
+      -1.46
+     ],
+     [
+      1.71,
+      1.41
+     ],
+     [
+      -1.17,
+      1.41
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0643_00.json b/data/spatial codes/ground truth/compact/scene0643_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..42694ed2d6facbd8d6778a1f0cd387ada70b5e2f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0643_00.json	
@@ -0,0 +1,778 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      -0.5,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.62,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -0.05,
+       1.0
+      ],
+      [
+       0.95,
+       0.31,
+       -0.01
+      ],
+      [
+       -0.3,
+       0.95,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.46,
+      -0.71,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      1.01,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.01
+      ],
+      [
+       -0.07,
+       0.0,
+       -1.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.18,
+      0.56,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.9,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       -0.93,
+       0.16
+      ],
+      [
+       -0.02,
+       -0.18,
+       -0.98
+      ],
+      [
+       0.95,
+       0.31,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      0.24,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.96,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       -0.35,
+       -0.14
+      ],
+      [
+       0.17,
+       -0.06,
+       -0.98
+      ],
+      [
+       0.34,
+       -0.93,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      0.68,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.45,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       -0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.22,
+       0.05
+      ],
+      [
+       -0.05,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.54,
+      -0.01,
+      2.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.5,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       0.84,
+       0.26
+      ],
+      [
+       -0.63,
+       -0.53,
+       0.57
+      ],
+      [
+       0.61,
+       0.11,
+       0.78
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      1.01,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      2.22,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       -0.29,
+       0.01
+      ],
+      [
+       0.0,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.29,
+       -0.96,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      -1.17,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.97,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.3,
+       -0.01
+      ],
+      [
+       0.2,
+       -0.59,
+       0.78
+      ],
+      [
+       0.23,
+       -0.75,
+       -0.62
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.25,
+      1.26,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.57,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.12,
+       -0.99
+      ],
+      [
+       0.99,
+       0.14,
+       -0.01
+      ],
+      [
+       0.14,
+       -0.98,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      0.87,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.54,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.26,
+       0.0
+      ],
+      [
+       -0.03,
+       0.09,
+       1.0
+      ],
+      [
+       0.26,
+       -0.96,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.22,
+      -1.51,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.32,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.46,
+       0.01
+      ],
+      [
+       0.46,
+       -0.89,
+       0.03
+      ],
+      [
+       0.03,
+       -0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      -1.46,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.11,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.81,
+       -0.14
+      ],
+      [
+       -0.14,
+       0.07,
+       0.99
+      ],
+      [
+       0.81,
+       0.59,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.16,
+      0.29,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.3,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.35,
+       -0.92,
+       -0.19
+      ],
+      [
+       -0.92,
+       -0.31,
+       -0.24
+      ],
+      [
+       0.16,
+       0.26,
+       -0.95
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.26,
+      -0.07,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.41,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       -0.01
+      ],
+      [
+       0.11,
+       0.02,
+       -0.99
+      ],
+      [
+       -0.96,
+       -0.27,
+       -0.11
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.07,
+      -0.09,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      2.11,
+      0.16,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.01,
+       1.0
+      ],
+      [
+       0.57,
+       0.82,
+       0.01
+      ],
+      [
+       -0.82,
+       0.57,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.89,
+      0.56,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.83,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.25,
+       -0.03
+      ],
+      [
+       0.03,
+       0.01,
+       -1.0
+      ],
+      [
+       0.25,
+       -0.97,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      -1.64,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.65,
+      0.91,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.22,
+       -0.95,
+       0.19
+      ],
+      [
+       -0.04,
+       0.19,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.28,
+      1.11,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.79,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.21,
+       -0.02
+      ],
+      [
+       -0.21,
+       0.98,
+       -0.01
+      ],
+      [
+       0.02,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      -0.88,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.64,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       -0.97,
+       0.1
+      ],
+      [
+       -0.89,
+       -0.18,
+       0.43
+      ],
+      [
+       -0.4,
+       -0.19,
+       -0.9
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      0.42,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.1,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.14,
+       -0.2
+      ],
+      [
+       -0.13,
+       -0.99,
+       0.07
+      ],
+      [
+       -0.2,
+       -0.04,
+       -0.98
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.54,
+      -2.28
+     ],
+     [
+      1.51,
+      -2.28
+     ],
+     [
+      1.51,
+      1.77
+     ],
+     [
+      -2.54,
+      1.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0645_00.json b/data/spatial codes/ground truth/compact/scene0645_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..fce37ba84d09aa3193379941e69f95c8daedc181
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0645_00.json	
@@ -0,0 +1,1524 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -1.03,
+      -2.23,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.73,
+      2.47,
+      1.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.63,
+       -0.19
+      ],
+      [
+       -0.65,
+       -0.67,
+       0.35
+      ],
+      [
+       0.1,
+       0.39,
+       0.92
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.73,
+      -0.67,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
+      1.86,
+      2.45,
+      1.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.57,
+       0.34
+      ],
+      [
+       0.52,
+       0.82,
+       -0.23
+      ],
+      [
+       -0.41,
+       0.0,
+       -0.91
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.69,
+      1.08,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.94,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       -1.0,
+       0.01
+      ],
+      [
+       0.12,
+       -0.02,
+       -0.99
+      ],
+      [
+       0.99,
+       -0.07,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.87,
+      3.21,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      1.24,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.03,
+       0.02
+      ],
+      [
+       0.0,
+       -0.47,
+       -0.88
+      ],
+      [
+       0.03,
+       -0.88,
+       0.47
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.41,
+      2.2,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.33,
+      0.7,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       0.36,
+       0.7
+      ],
+      [
+       -0.5,
+       0.5,
+       -0.71
+      ],
+      [
+       -0.6,
+       -0.79,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.85,
+      2.45,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      2.03,
+      1.05,
+      0.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       -0.04,
+       -0.04,
+       -1.0
+      ],
+      [
+       0.65,
+       0.76,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.41,
+      2.92,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.59,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.27,
+       -0.92,
+       0.29
+      ],
+      [
+       0.36,
+       -0.18,
+       -0.92
+      ],
+      [
+       0.89,
+       0.35,
+       0.28
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.61,
+      0.16,
+      1.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      1.92,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.66,
+       0.72,
+       0.21
+      ],
+      [
+       -0.15,
+       -0.15,
+       0.98
+      ],
+      [
+       0.74,
+       -0.68,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.19,
+      1.51,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.18,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.89,
+       -0.39,
+       -0.23
+      ],
+      [
+       0.18,
+       0.17,
+       -0.97
+      ],
+      [
+       0.42,
+       -0.9,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.25,
+      2.88,
+      1.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.43,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.59,
+       -0.64,
+       -0.5
+      ],
+      [
+       -0.81,
+       -0.51,
+       -0.3
+      ],
+      [
+       -0.06,
+       0.58,
+       -0.81
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.88,
+      3.35,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.32,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.03,
+       0.01
+      ],
+      [
+       0.01,
+       -0.65,
+       -0.76
+      ],
+      [
+       0.03,
+       -0.76,
+       0.65
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.59,
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+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0647_00.json b/data/spatial codes/ground truth/compact/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..c275d59b5adcf8cc8e0034531acb3ffcba54b932
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0647_00.json	
@@ -0,0 +1,450 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.67,
+      1.02,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.53,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.99,
+       0.06
+      ],
+      [
+       -0.99,
+       -0.1,
+       0.08
+      ],
+      [
+       0.09,
+       -0.05,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.31,
+      -0.95,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      0.89,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.69,
+       0.73,
+       0.04
+      ],
+      [
+       -0.07,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.72,
+       -0.69,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.29,
+      -0.02,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      1.05,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       -0.73,
+       0.05
+      ],
+      [
+       0.49,
+       -0.51,
+       -0.71
+      ],
+      [
+       0.54,
+       -0.46,
+       0.71
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.61,
+      2.95,
+      1.61
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      0.61,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.65,
+       -0.76,
+       -0.09
+      ],
+      [
+       0.06,
+       -0.07,
+       1.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.39,
+      0.68,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.44,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       -0.82,
+       -0.12
+      ],
+      [
+       -0.83,
+       -0.56,
+       -0.02
+      ],
+      [
+       -0.05,
+       0.11,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      -2.51,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      1.05,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       0.09,
+       1.0
+      ],
+      [
+       0.75,
+       0.66,
+       -0.04
+      ],
+      [
+       -0.66,
+       0.75,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      2.49,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.3,
+      1.9,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       0.58,
+       0.09
+      ],
+      [
+       0.06,
+       0.08,
+       -1.0
+      ],
+      [
+       -0.58,
+       0.81,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.59,
+      2.82,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.71,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.67,
+       -0.74,
+       -0.05
+      ],
+      [
+       0.74,
+       0.67,
+       0.03
+      ],
+      [
+       0.01,
+       -0.06,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.84,
+      -0.49,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.93,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       -0.7,
+       -0.06
+      ],
+      [
+       0.7,
+       0.71,
+       -0.04
+      ],
+      [
+       0.07,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.12,
+      -2.74,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.69,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       0.43,
+       0.22
+      ],
+      [
+       -0.32,
+       0.86,
+       -0.39
+      ],
+      [
+       -0.35,
+       0.27,
+       0.89
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.97,
+      -2.48
+     ],
+     [
+      2.61,
+      -2.48
+     ],
+     [
+      2.61,
+      3.1
+     ],
+     [
+      -2.97,
+      3.1
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0648_00.json b/data/spatial codes/ground truth/compact/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fadad33681d2fcb310ccad7ad3df1ee63aec6a5
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0648_00.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": [
+      -0.84,
+      1.24,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
+      2.25,
+      0.66,
+      1.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.92,
+       -0.4,
+       0.02
+      ],
+      [
+       -0.17,
+       0.33,
+       -0.93
+      ],
+      [
+       0.36,
+       -0.85,
+       -0.37
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -0.78,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      2.52,
+      1.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.39,
+       -0.02
+      ],
+      [
+       -0.39,
+       0.91,
+       -0.18
+      ],
+      [
+       -0.05,
+       0.17,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -0.54,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.74,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.02,
+       1.0
+      ],
+      [
+       0.4,
+       -0.91,
+       0.0
+      ],
+      [
+       0.91,
+       0.4,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.72,
+      0.6,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.87,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       -0.6,
+       0.13
+      ],
+      [
+       0.12,
+       -0.06,
+       -0.99
+      ],
+      [
+       0.6,
+       0.8,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.89,
+      -0.01,
+      1.58
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      1.37,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.41,
+       0.91,
+       -0.01
+      ],
+      [
+       0.02,
+       0.02,
+       1.0
+      ],
+      [
+       0.91,
+       0.41,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      1.7,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.82,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.92,
+       0.4,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.59,
+      0.96,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.13,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.94,
+       -0.09
+      ],
+      [
+       0.6,
+       0.13,
+       0.79
+      ],
+      [
+       -0.73,
+       -0.31,
+       0.61
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.22,
+      -1.19,
+      1.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.5,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       0.44,
+       -0.87
+      ],
+      [
+       0.95,
+       0.28,
+       -0.11
+      ],
+      [
+       0.19,
+       -0.85,
+       -0.48
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.11,
+      -1.28,
+      1.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.4,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       0.71,
+       -0.62
+      ],
+      [
+       0.92,
+       -0.39,
+       0.02
+      ],
+      [
+       -0.23,
+       -0.58,
+       -0.78
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.24,
+      -1.38,
+      1.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.42,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.52,
+       0.65
+      ],
+      [
+       -0.03,
+       0.77,
+       -0.64
+      ],
+      [
+       -0.83,
+       -0.37,
+       -0.41
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.29,
+      -1.54,
+      1.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.16,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       -0.8,
+       0.59
+      ],
+      [
+       0.9,
+       -0.33,
+       -0.28
+      ],
+      [
+       0.42,
+       0.51,
+       0.75
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.43,
+      0.67,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.18,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.83,
+       -0.47,
+       -0.28
+      ],
+      [
+       0.21,
+       0.19,
+       -0.96
+      ],
+      [
+       0.51,
+       -0.86,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.82,
+      -1.14,
+      1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.29,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.96,
+       -0.25
+      ],
+      [
+       0.18,
+       0.26,
+       0.95
+      ],
+      [
+       0.98,
+       0.04,
+       -0.2
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.34,
+      -0.94,
+      1.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.16,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.05,
+       -0.99
+      ],
+      [
+       -0.5,
+       -0.86,
+       -0.1
+      ],
+      [
+       -0.86,
+       0.51,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.43,
+      -0.73,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.4,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.01,
+       0.99
+      ],
+      [
+       -0.93,
+       -0.33,
+       0.15
+      ],
+      [
+       0.33,
+       -0.94,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      0.94,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.36,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.15,
+       0.96
+      ],
+      [
+       -0.84,
+       -0.53,
+       -0.14
+      ],
+      [
+       0.49,
+       -0.84,
+       0.26
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      -0.61,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      2.17,
+      0.94,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.02,
+       1.0
+      ],
+      [
+       -0.46,
+       0.89,
+       -0.03
+      ],
+      [
+       -0.89,
+       -0.46,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.22,
+      -0.48,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.47,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.04,
+       -1.0
+      ],
+      [
+       -0.18,
+       0.98,
+       0.04
+      ],
+      [
+       0.98,
+       0.18,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.76,
+      0.37,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.81,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.2,
+       -0.08,
+       0.98
+      ],
+      [
+       0.91,
+       0.36,
+       0.22
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      -0.99,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      1.56,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.38,
+       0.0
+      ],
+      [
+       0.02,
+       -0.05,
+       -1.0
+      ],
+      [
+       -0.38,
+       0.92,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      0.58,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.73,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       0.94,
+       0.04
+      ],
+      [
+       -0.94,
+       -0.33,
+       0.04
+      ],
+      [
+       0.05,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.81,
+      -1.53
+     ],
+     [
+      1.55,
+      -1.53
+     ],
+     [
+      1.55,
+      1.82
+     ],
+     [
+      -1.81,
+      1.82
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0651_02.json b/data/spatial codes/ground truth/compact/scene0651_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b647a5c31aa31d2747be925e0bb5037af3208b2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0651_02.json	
@@ -0,0 +1,450 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      -0.73,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.61,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       -0.06,
+       -1.0
+      ],
+      [
+       0.44,
+       -0.9,
+       0.08
+      ],
+      [
+       -0.9,
+       -0.44,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      -1.47,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.87,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       -0.01
+      ],
+      [
+       0.01,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      -0.74,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.63,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       0.08,
+       1.0
+      ],
+      [
+       -0.47,
+       0.88,
+       -0.08
+      ],
+      [
+       -0.88,
+       -0.47,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.51,
+      -1.53,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.63,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.81,
+       -0.58,
+       0.01
+      ],
+      [
+       0.57,
+       -0.81,
+       -0.16
+      ],
+      [
+       0.1,
+       -0.12,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.04,
+      -3.1,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      1.39,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.52,
+       -0.75,
+       0.4
+      ],
+      [
+       -0.82,
+       -0.57,
+       -0.01
+      ],
+      [
+       0.24,
+       -0.33,
+       -0.91
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      2.2,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      2.21,
+      1.77,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.9,
+       -0.44,
+       -0.05
+      ],
+      [
+       0.44,
+       -0.9,
+       -0.01
+      ],
+      [
+       -0.04,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      1.42,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      1.55,
+      0.74,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.04,
+       1.0
+      ],
+      [
+       0.88,
+       0.47,
+       -0.01
+      ],
+      [
+       -0.47,
+       0.88,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.61,
+      1.26,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.43,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.45,
+       0.0
+      ],
+      [
+       -0.45,
+       0.89,
+       0.08
+      ],
+      [
+       0.03,
+       -0.07,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.81,
+      -2.28,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.57,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.87,
+       -0.5,
+       0.02
+      ],
+      [
+       0.5,
+       -0.87,
+       0.02
+      ],
+      [
+       0.01,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      -1.11,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.76,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.5,
+       0.87,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.95,
+      -2.14
+     ],
+     [
+      2.04,
+      -2.14
+     ],
+     [
+      2.04,
+      1.85
+     ],
+     [
+      -1.95,
+      1.85
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0653_00.json b/data/spatial codes/ground truth/compact/scene0653_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b9ac3dc220ee3584a99a1e673d45c5421a05e53
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0653_00.json	
@@ -0,0 +1,1128 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -1.43,
+      -1.28,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.68,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       0.07,
+       1.0
+      ],
+      [
+       -0.18,
+       -0.98,
+       0.06
+      ],
+      [
+       0.98,
+       -0.18,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      -1.08,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.63,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       -0.95,
+       0.13
+      ],
+      [
+       -0.95,
+       0.28,
+       -0.13
+      ],
+      [
+       0.08,
+       -0.16,
+       -0.98
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.07,
+      2.11,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.88,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.19,
+       0.1
+      ],
+      [
+       -0.12,
+       0.13,
+       -0.98
+      ],
+      [
+       0.18,
+       -0.97,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.5,
+      0.73,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.45,
+      1.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.03
+      ],
+      [
+       -0.92,
+       -0.36,
+       -0.13
+      ],
+      [
+       -0.11,
+       -0.07,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.09,
+      -2.4,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.64,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.04,
+       -0.99
+      ],
+      [
+       -0.93,
+       -0.35,
+       0.1
+      ],
+      [
+       -0.34,
+       0.94,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      -1.84,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.6,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.76,
+       -0.07
+      ],
+      [
+       -0.76,
+       -0.65,
+       -0.04
+      ],
+      [
+       -0.08,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      -0.33,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.6,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.36,
+       0.04
+      ],
+      [
+       0.35,
+       -0.93,
+       0.1
+      ],
+      [
+       0.07,
+       -0.08,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.69,
+      0.64,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      1.03,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.31,
+       0.95,
+       -0.04
+      ],
+      [
+       -0.53,
+       -0.21,
+       -0.82
+      ],
+      [
+       -0.79,
+       -0.23,
+       0.57
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.19,
+      2.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.12,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.08,
+       -0.99
+      ],
+      [
+       -0.17,
+       0.98,
+       -0.07
+      ],
+      [
+       0.98,
+       0.16,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.96,
+      -1.65,
+      2.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      2.26,
+      2.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.13,
+       -0.02
+      ],
+      [
+       -0.03,
+       0.04,
+       1.0
+      ],
+      [
+       -0.13,
+       0.99,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.04,
+      1.91,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.64,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.01,
+       1.0
+      ],
+      [
+       -0.51,
+       0.86,
+       0.02
+      ],
+      [
+       -0.86,
+       -0.51,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.34,
+      -0.32,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.33,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.11,
+       0.95
+      ],
+      [
+       -0.96,
+       0.02,
+       0.28
+      ],
+      [
+       0.01,
+       -0.99,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.56,
+      -1.02,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.45,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.55,
+       0.83,
+       -0.11
+      ],
+      [
+       -0.15,
+       -0.03,
+       -0.99
+      ],
+      [
+       -0.82,
+       0.56,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.03,
+      -2.18,
+      1.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.2,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.19,
+       0.06
+      ],
+      [
+       -0.17,
+       0.95,
+       -0.25
+      ],
+      [
+       -0.1,
+       0.24,
+       0.97
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.45,
+      -2.04,
+      1.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.5,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.71,
+       -0.7,
+       0.08
+      ],
+      [
+       0.14,
+       -0.25,
+       -0.96
+      ],
+      [
+       0.69,
+       -0.67,
+       0.27
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.88,
+      0.11,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.39,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.22,
+       -0.11
+      ],
+      [
+       0.14,
+       -0.11,
+       -0.98
+      ],
+      [
+       0.2,
+       -0.97,
+       0.14
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      1.56,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.65,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.05
+      ],
+      [
+       1.0,
+       -0.02,
+       -0.07
+      ],
+      [
+       -0.07,
+       0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.35,
+      -0.95,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.05,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       -0.62,
+       0.0
+      ],
+      [
+       0.07,
+       0.08,
+       0.99
+      ],
+      [
+       -0.62,
+       -0.78,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.9,
+      -1.76,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.28,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.02,
+       -0.05
+      ],
+      [
+       -0.03,
+       -0.98,
+       0.17
+      ],
+      [
+       -0.04,
+       0.17,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.83,
+      1.48,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.35,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       0.04,
+       0.99
+      ],
+      [
+       0.3,
+       -0.95,
+       0.08
+      ],
+      [
+       0.94,
+       0.31,
+       0.13
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      0.28,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.41,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       0.08,
+       0.99
+      ],
+      [
+       0.43,
+       -0.9,
+       0.05
+      ],
+      [
+       0.9,
+       0.43,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.85,
+      -0.14,
+      2.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.36,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -0.51,
+       -0.86
+      ],
+      [
+       0.06,
+       -0.86,
+       0.51
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      2.71,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.31,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       -0.07,
+       0.97
+      ],
+      [
+       -0.96,
+       -0.15,
+       0.22
+      ],
+      [
+       0.13,
+       -0.99,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.13,
+      2.7,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.4,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       -0.12,
+       0.99
+      ],
+      [
+       -0.1,
+       0.99,
+       0.11
+      ],
+      [
+       -0.99,
+       -0.1,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.19,
+      2.54,
+      2.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      1.01,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       -0.55,
+       0.82
+      ],
+      [
+       -0.02,
+       0.83,
+       0.56
+      ],
+      [
+       -0.99,
+       -0.1,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.0,
+      1.84,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.84,
+      1.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.17,
+       -0.21
+      ],
+      [
+       0.21,
+       0.03,
+       0.98
+      ],
+      [
+       0.17,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      -0.85,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      1.52,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       -0.99,
+       0.08
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.09
+      ],
+      [
+       -0.08,
+       -0.09,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      -0.08,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.71,
+      1.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       -0.02
+      ],
+      [
+       0.13,
+       0.0,
+       -0.99
+      ],
+      [
+       -0.98,
+       -0.16,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.24,
+      -0.24,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      1.53,
+      0.86,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.11,
+       -0.07
+      ],
+      [
+       -0.04,
+       -0.29,
+       -0.96
+      ],
+      [
+       -0.13,
+       0.95,
+       -0.28
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.18,
+      -2.26,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.75,
+      1.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.98,
+       -0.13
+      ],
+      [
+       0.08,
+       -0.12,
+       -0.99
+      ],
+      [
+       -0.98,
+       -0.18,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.62,
+      1.5,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      1.6,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.02
+      ],
+      [
+       0.94,
+       0.1,
+       0.31
+      ],
+      [
+       0.31,
+       0.05,
+       -0.95
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.42,
+      -2.61
+     ],
+     [
+      2.78,
+      -2.61
+     ],
+     [
+      2.78,
+      2.58
+     ],
+     [
+      -2.42,
+      2.58
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0658_00.json b/data/spatial codes/ground truth/compact/scene0658_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..712b8e2733c077dd0bca0b618f9871214c629497
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0658_00.json	
@@ -0,0 +1,322 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      0.68,
+      -1.22,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      2.38,
+      1.06,
+      1.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.26,
+       0.12
+      ],
+      [
+       0.11,
+       -0.03,
+       -0.99
+      ],
+      [
+       0.26,
+       0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.51,
+      0.41,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.62,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.36,
+       0.02,
+       0.93
+      ],
+      [
+       0.91,
+       0.21,
+       0.34
+      ],
+      [
+       -0.19,
+       0.98,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.12,
+      -0.55,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      2.14,
+      1.31,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       -0.92,
+       0.2
+      ],
+      [
+       0.13,
+       0.16,
+       0.98
+      ],
+      [
+       -0.93,
+       0.35,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.09,
+      0.75,
+      1.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.42,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.43,
+       0.05
+      ],
+      [
+       0.43,
+       -0.89,
+       -0.14
+      ],
+      [
+       -0.01,
+       0.14,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      0.82,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.44,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       0.23,
+       -0.01
+      ],
+      [
+       -0.23,
+       -0.97,
+       -0.02
+      ],
+      [
+       -0.02,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.57,
+      0.63,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.51,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.77,
+       -0.63,
+       0.0
+      ],
+      [
+       -0.63,
+       -0.77,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.73,
+      -2.01
+     ],
+     [
+      2.11,
+      -2.01
+     ],
+     [
+      2.11,
+      1.83
+     ],
+     [
+      -1.73,
+      1.83
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0663_00.json b/data/spatial codes/ground truth/compact/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b0add2f7d12064d5c0f53838cd9e5a1216f53bc
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0663_00.json	
@@ -0,0 +1,744 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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,
+      0.06,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.67,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.01,
+       1.0
+      ],
+      [
+       0.42,
+       -0.91,
+       0.0
+      ],
+      [
+       0.91,
+       0.42,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.38,
+      0.3,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.83,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.4,
+       -0.46,
+       0.79
+      ],
+      [
+       -0.02,
+       -0.87,
+       -0.49
+      ],
+      [
+       0.91,
+       0.18,
+       -0.36
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.41,
+      0.17,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.07,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.64,
+       0.19
+      ],
+      [
+       0.31,
+       0.59,
+       -0.74
+      ],
+      [
+       -0.59,
+       -0.5,
+       -0.64
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.28,
+      0.55,
+      1.95
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      2.31,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -0.02,
+       -1.0
+      ],
+      [
+       -0.25,
+       0.97,
+       -0.03
+      ],
+      [
+       0.97,
+       0.25,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.57,
+      -0.99,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.22,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -0.2,
+       0.98
+      ],
+      [
+       0.34,
+       -0.92,
+       -0.2
+      ],
+      [
+       0.94,
+       0.34,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      0.99,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.53,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       -0.27,
+       0.1
+      ],
+      [
+       -0.14,
+       0.15,
+       -0.98
+      ],
+      [
+       0.25,
+       -0.95,
+       -0.18
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      -1.07,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.18,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -0.13,
+       0.99
+      ],
+      [
+       -0.18,
+       0.98,
+       0.12
+      ],
+      [
+       -0.98,
+       -0.17,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      0.74,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.2,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       -0.29,
+       0.07
+      ],
+      [
+       -0.3,
+       0.95,
+       -0.07
+      ],
+      [
+       -0.05,
+       -0.08,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      -0.67,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.19,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.24,
+       -0.02
+      ],
+      [
+       0.23,
+       -0.97,
+       0.03
+      ],
+      [
+       -0.03,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -0.94,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.43,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.13,
+       0.01
+      ],
+      [
+       -0.09,
+       0.65,
+       -0.75
+      ],
+      [
+       0.09,
+       -0.75,
+       -0.66
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.35,
+      -0.63,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.24,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.34,
+       0.64,
+       -0.69
+      ],
+      [
+       0.34,
+       -0.77,
+       -0.54
+      ],
+      [
+       -0.88,
+       -0.05,
+       -0.48
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.01,
+      -0.44,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.25,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       0.42,
+       -0.9
+      ],
+      [
+       -0.69,
+       -0.63,
+       -0.36
+      ],
+      [
+       -0.72,
+       0.65,
+       0.24
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.1,
+      -1.31,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.07,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.17,
+       0.07
+      ],
+      [
+       -0.07,
+       0.0,
+       -1.0
+      ],
+      [
+       0.17,
+       -0.99,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      1.02,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.21,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.86,
+       0.45
+      ],
+      [
+       -0.95,
+       0.12,
+       0.28
+      ],
+      [
+       0.19,
+       -0.5,
+       0.85
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.88,
+      -1.2,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.5,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.09,
+       -0.99
+      ],
+      [
+       -0.92,
+       -0.39,
+       0.07
+      ],
+      [
+       -0.39,
+       0.92,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      -0.21,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.24,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.03,
+       0.98
+      ],
+      [
+       0.09,
+       -0.99,
+       -0.05
+      ],
+      [
+       0.98,
+       0.1,
+       -0.19
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.16,
+      -1.11,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.96,
+      1.14,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       0.04,
+       1.0
+      ],
+      [
+       -0.12,
+       0.99,
+       -0.03
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.43,
+      -0.05,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      2.19,
+      0.87,
+      1.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       -0.97,
+       -0.01
+      ],
+      [
+       -0.03,
+       0.0,
+       -1.0
+      ],
+      [
+       0.97,
+       0.25,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.43,
+      0.4,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      2.15,
+      0.79,
+      1.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.22,
+       0.05
+      ],
+      [
+       -0.06,
+       0.02,
+       -1.0
+      ],
+      [
+       0.22,
+       -0.97,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.78,
+      -1.84
+     ],
+     [
+      1.97,
+      -1.84
+     ],
+     [
+      1.97,
+      1.91
+     ],
+     [
+      -1.78,
+      1.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0664_02.json b/data/spatial codes/ground truth/compact/scene0664_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6171be778fe12aa03d48a8049da3a44ec269785
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0664_02.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      0.16,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.34,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.16,
+       0.02
+      ],
+      [
+       -0.02,
+       0.0,
+       -1.0
+      ],
+      [
+       -0.16,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.9,
+      0.43,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.26,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.02,
+       -1.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.02
+      ],
+      [
+       0.23,
+       0.97,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.77,
+      0.45,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.04,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       0.0,
+       1.0
+      ],
+      [
+       0.16,
+       0.99,
+       -0.01
+      ],
+      [
+       -0.99,
+       0.16,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.34,
+      0.35,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.2,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       -0.98,
+       -0.12
+      ],
+      [
+       0.02,
+       0.12,
+       -0.99
+      ],
+      [
+       0.99,
+       -0.16,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.61,
+      -0.66,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.31,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.01,
+       -1.0
+      ],
+      [
+       -0.98,
+       0.21,
+       0.02
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      0.87,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      2.01,
+      0.86,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.01,
+       1.0
+      ],
+      [
+       -0.99,
+       0.12,
+       -0.03
+      ],
+      [
+       -0.12,
+       -0.99,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.15,
+      -0.81
+     ],
+     [
+      -0.22,
+      -0.81
+     ],
+     [
+      -0.22,
+      1.12
+     ],
+     [
+      -2.15,
+      1.12
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0665_00.json b/data/spatial codes/ground truth/compact/scene0665_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f72972b38926256c46e0cda7ac8cf6c4a91b86f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0665_00.json	
@@ -0,0 +1,1020 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one 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": [
+      -0.18,
+      -0.72,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.66,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.01,
+       -1.0
+      ],
+      [
+       -0.47,
+       -0.88,
+       -0.02
+      ],
+      [
+       -0.88,
+       0.47,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      -0.96,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.62,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.91,
+       0.4,
+       0.03
+      ],
+      [
+       0.4,
+       0.91,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      -0.54,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.67,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.07,
+       -1.0
+      ],
+      [
+       0.66,
+       0.74,
+       0.07
+      ],
+      [
+       0.75,
+       -0.66,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.93,
+      1.19,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.65,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.02,
+       1.0
+      ],
+      [
+       -0.92,
+       0.4,
+       -0.03
+      ],
+      [
+       -0.39,
+       -0.92,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.77,
+      2.03,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.43,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       -0.36,
+       -0.01
+      ],
+      [
+       -0.05,
+       0.1,
+       0.99
+      ],
+      [
+       -0.36,
+       0.93,
+       -0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.31,
+      1.05,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.51,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.35,
+       0.06
+      ],
+      [
+       0.35,
+       -0.94,
+       0.01
+      ],
+      [
+       0.06,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.66,
+      -2.15,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.46,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.32,
+       -0.95
+      ],
+      [
+       -0.33,
+       -0.89,
+       0.31
+      ],
+      [
+       -0.94,
+       0.32,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      2.5,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.66,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       -0.88,
+       0.0
+      ],
+      [
+       0.75,
+       -0.41,
+       -0.53
+      ],
+      [
+       0.46,
+       -0.25,
+       0.85
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      2.18,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.31,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.32,
+       -0.95,
+       0.07
+      ],
+      [
+       -0.46,
+       0.09,
+       -0.88
+      ],
+      [
+       0.83,
+       -0.31,
+       -0.47
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      1.36,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.52,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.09,
+       1.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.09
+      ],
+      [
+       -1.0,
+       -0.02,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.53,
+      3.14,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.3,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.35,
+       0.07
+      ],
+      [
+       0.05,
+       0.32,
+       0.94
+      ],
+      [
+       -0.35,
+       -0.88,
+       0.32
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.14,
+      -2.24,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.61,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.37,
+       0.93,
+       -0.01
+      ],
+      [
+       0.93,
+       -0.37,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.06,
+      1.62,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.1,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       0.99,
+       -0.11
+      ],
+      [
+       0.83,
+       0.12,
+       0.55
+      ],
+      [
+       0.56,
+       -0.06,
+       -0.83
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.3,
+      2.46,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.62,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       -0.04,
+       -0.99
+      ],
+      [
+       0.78,
+       0.61,
+       -0.12
+      ],
+      [
+       0.61,
+       -0.79,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.89,
+      3.32,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.57,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.02,
+       1.0
+      ],
+      [
+       0.11,
+       -0.99,
+       0.02
+      ],
+      [
+       0.99,
+       0.11,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.89,
+      -1.96,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.38,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.89,
+       -0.46,
+       0.03
+      ],
+      [
+       0.03,
+       0.01,
+       1.0
+      ],
+      [
+       -0.46,
+       0.89,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.3,
+      -1.28,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.97,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       -0.12
+      ],
+      [
+       0.51,
+       -0.26,
+       -0.82
+      ],
+      [
+       -0.8,
+       0.19,
+       -0.56
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.1,
+      -1.18,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.14,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.89,
+       0.45,
+       -0.04
+      ],
+      [
+       0.37,
+       0.68,
+       -0.63
+      ],
+      [
+       -0.26,
+       -0.57,
+       -0.78
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -3.58,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.93,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.06,
+       -0.05,
+       1.0
+      ],
+      [
+       0.91,
+       -0.41,
+       0.04
+      ],
+      [
+       0.4,
+       0.91,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.02,
+      -2.2,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.91,
+      1.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.45,
+       -0.01
+      ],
+      [
+       -0.45,
+       0.89,
+       0.04
+      ],
+      [
+       0.03,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.06,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.37,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       0.95,
+       -0.03
+      ],
+      [
+       -0.19,
+       0.03,
+       -0.98
+      ],
+      [
+       -0.93,
+       0.32,
+       0.19
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.51,
+      2.55,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      1.25,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       -0.9,
+       -0.04
+      ],
+      [
+       0.05,
+       0.02,
+       -1.0
+      ],
+      [
+       0.9,
+       -0.43,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.1,
+      3.45,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      1.13,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.91,
+       -0.42,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.12,
+      -1.49,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      1.02,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       0.33,
+       0.01
+      ],
+      [
+       -0.33,
+       -0.94,
+       -0.01
+      ],
+      [
+       0.01,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.64,
+      -0.76,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      1.26,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       0.36,
+       0.0
+      ],
+      [
+       -0.36,
+       -0.93,
+       0.01
+      ],
+      [
+       0.0,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.05,
+      2.24,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.88,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.09,
+       0.01
+      ],
+      [
+       -0.09,
+       1.0,
+       0.01
+      ],
+      [
+       0.0,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.14,
+      1.2,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.81,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       -0.9,
+       -0.01
+      ],
+      [
+       0.9,
+       -0.44,
+       0.01
+      ],
+      [
+       -0.01,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.11,
+      1.22,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.89,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.04
+      ],
+      [
+       -0.05,
+       -1.0,
+       0.01
+      ],
+      [
+       0.04,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.04,
+      -3.04
+     ],
+     [
+      3.79,
+      -3.04
+     ],
+     [
+      3.79,
+      3.79
+     ],
+     [
+      -3.04,
+      3.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0671_01.json b/data/spatial codes/ground truth/compact/scene0671_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..caa86b5b32ed71b4850579c3663b7eb8a4b7a035
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0671_01.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": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.62,
+      0.11,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.78,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.42,
+       0.91,
+       0.04
+      ],
+      [
+       -0.09,
+       -0.09,
+       0.99
+      ],
+      [
+       0.9,
+       0.41,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.32,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.27,
+       0.07
+      ],
+      [
+       0.16,
+       -0.74,
+       -0.65
+      ],
+      [
+       0.22,
+       -0.62,
+       0.76
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.53,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.46,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.12,
+       0.55,
+       0.83
+      ],
+      [
+       -0.93,
+       -0.35,
+       0.09
+      ],
+      [
+       0.34,
+       -0.76,
+       0.55
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      0.41,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.48,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.25,
+       -0.01
+      ],
+      [
+       -0.13,
+       0.53,
+       0.84
+      ],
+      [
+       0.21,
+       -0.81,
+       0.54
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      -0.7,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.4,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       -0.03
+      ],
+      [
+       0.31,
+       -0.94,
+       -0.14
+      ],
+      [
+       -0.07,
+       0.12,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      -0.88,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.45,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.24,
+       -0.04
+      ],
+      [
+       0.24,
+       -0.95,
+       -0.21
+      ],
+      [
+       0.02,
+       -0.21,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.71,
+      -0.16,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.35,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.08,
+       0.98
+      ],
+      [
+       0.97,
+       0.17,
+       0.15
+      ],
+      [
+       -0.16,
+       0.98,
+       -0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.39,
+      -0.8,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.56,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       0.99,
+       0.1
+      ],
+      [
+       0.05,
+       -0.1,
+       0.99
+      ],
+      [
+       1.0,
+       -0.05,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.05,
+      0.64,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.21,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.51,
+       0.04,
+       0.86
+      ],
+      [
+       0.11,
+       0.99,
+       0.03
+      ],
+      [
+       -0.85,
+       0.11,
+       -0.51
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      -0.13,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      2.17,
+      0.77,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.28,
+       -0.12
+      ],
+      [
+       0.12,
+       0.02,
+       0.99
+      ],
+      [
+       0.28,
+       -0.96,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.55,
+      -1.84
+     ],
+     [
+      1.57,
+      -1.84
+     ],
+     [
+      1.57,
+      1.28
+     ],
+     [
+      -1.55,
+      1.28
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0684_01.json b/data/spatial codes/ground truth/compact/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ddf27c1545e6f106ef1376d77ff2c679892a3b3
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0684_01.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      0.93,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.61,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.89,
+       -0.05
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.01
+      ],
+      [
+       -0.02,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      0.58,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.15,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.88,
+       0.48
+      ],
+      [
+       -0.08,
+       0.48,
+       -0.87
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      1.13,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.12,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.99,
+       -0.13
+      ],
+      [
+       -0.08,
+       -0.12,
+       0.99
+      ],
+      [
+       -1.0,
+       0.01,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      1.4,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.29,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       -0.02,
+       -0.87
+      ],
+      [
+       0.25,
+       -0.96,
+       -0.11
+      ],
+      [
+       -0.84,
+       -0.28,
+       0.47
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      -1.19,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.87,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       0.03,
+       -1.0
+      ],
+      [
+       1.0,
+       -0.07,
+       0.07
+      ],
+      [
+       -0.07,
+       -1.0,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      0.89,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.75,
+      1.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       -0.04
+      ],
+      [
+       0.04,
+       -0.17,
+       -0.99
+      ],
+      [
+       0.0,
+       -0.99,
+       0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.22,
+      -1.86
+     ],
+     [
+      1.27,
+      -1.86
+     ],
+     [
+      1.27,
+      0.63
+     ],
+     [
+      -1.22,
+      0.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0685_00.json b/data/spatial codes/ground truth/compact/scene0685_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e8cf6fdf3313eef7c50699d64c8ebfee99b003
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0685_00.json	
@@ -0,0 +1,284 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.38,
+      -0.67,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.88,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -0.12,
+       -0.99
+      ],
+      [
+       0.0,
+       0.99,
+       -0.12
+      ],
+      [
+       1.0,
+       0.0,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.26,
+      0.92,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.39,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       0.98,
+       0.14
+      ],
+      [
+       -0.03,
+       0.14,
+       -0.99
+      ],
+      [
+       -0.99,
+       0.13,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.47,
+      0.22,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
+      2.45,
+      1.13,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.14,
+       0.99,
+       -0.02
+      ],
+      [
+       0.99,
+       -0.14,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      -0.75,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      0.94,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.12,
+       0.99,
+       -0.05
+      ],
+      [
+       0.01,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.36,
+      -0.87,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.28,
+      0.73,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.09,
+       0.04
+      ],
+      [
+       0.03,
+       -0.11,
+       -0.99
+      ],
+      [
+       0.09,
+       0.99,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.47,
+      -1.89
+     ],
+     [
+      2.18,
+      -1.89
+     ],
+     [
+      2.18,
+      1.75
+     ],
+     [
+      -1.47,
+      1.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/09c1414f1b.json b/data/spatial codes/ground truth/explicit/09c1414f1b.json
new file mode 100644
index 0000000000000000000000000000000000000000..58a0148d4d74dd5e6c55b3f9a96634fc0d7afd67
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/09c1414f1b.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.54 meters",
+      "y coordinate": "6.72 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "2.82 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "9.65 meters",
+      "y coordinate": "4.9 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.14 meters",
+      "y coordinate": "7.57 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.56 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.04 meters",
+      "y coordinate": "7.81 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.47 meters",
+      "y coordinate": "6.01 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.62 meters",
+      "y coordinate": "7.18 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.85 meters",
+      "y coordinate": "6.75 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.53 meters",
+      "y coordinate": "5.83 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.66 meters",
+      "y coordinate": "8.2 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.86 meters",
+      "y coordinate": "7.49 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "6.62 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "5.49 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.61 meters",
+      "y coordinate": "3.61 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.07 meters"
+    }
+   ]
+  },
+  "suitcase": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.69 meters",
+      "y coordinate": "3.97 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "shoe rack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "3.6 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "2.15 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "54.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "shoe rack": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.89 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "3.6 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "3.79 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "3.85 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "4.0 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "4.53 meters",
+    "closeness rank": 12
+   }
+  },
+  "bookshelf": {
+   "plant": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.56 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "2.74 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "3.03 meters",
+    "closeness rank": 6
+   },
+   "shoe rack": {
+    "distance": "3.72 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "4.79 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "5.01 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "5.19 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "6.18 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "6.73 meters",
+    "closeness rank": 12
+   }
+  },
+  "refrigerator": {
+   "microwave": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   },
+   "cutting board": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "shoe rack": {
+    "distance": "2.1 meters",
+    "closeness rank": 6
+   },
+   "suitcase": {
+    "distance": "2.37 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "3.6 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "4.02 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "4.89 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "6.18 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "6.45 meters",
+    "closeness rank": 12
+   }
+  },
+  "pillow": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "2.24 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "2.56 meters",
+    "closeness rank": 5
+   },
+   "shoe rack": {
+    "distance": "3.38 meters",
+    "closeness rank": 6
+   },
+   "suitcase": {
+    "distance": "3.57 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "4.89 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "5.54 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "5.63 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "5.81 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "5.92 meters",
+    "closeness rank": 12
+   }
+  },
+  "blanket": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "shoe rack": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "2.2 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.74 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "4.02 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "4.26 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "4.33 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "4.47 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "4.99 meters",
+    "closeness rank": 12
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "blanket": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "2.2 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "3.94 meters",
+    "closeness rank": 6
+   },
+   "shoe rack": {
+    "distance": "4.07 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "6.05 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "6.08 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "6.13 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "6.45 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "7.29 meters",
+    "closeness rank": 12
+   }
+  },
+  "plant": {
+   "microwave": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "suitcase": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "1.83 meters",
+    "closeness rank": 6
+   },
+   "cutting board": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "shoe rack": {
+    "distance": "1.87 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.89 meters",
+    "closeness rank": 9
+   },
+   "blanket": {
+    "distance": "2.13 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.2 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.24 meters",
+    "closeness rank": 12
+   }
+  },
+  "suitcase": {
+   "shoe rack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "1.29 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.71 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "cutting board": {
+    "distance": "1.76 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "1.78 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "2.2 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "3.01 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "3.03 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "3.57 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "3.94 meters",
+    "closeness rank": 12
+   }
+  },
+  "shoe rack": {
+   "suitcase": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "kettle": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.87 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "2.04 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "2.1 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.7 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "3.38 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "3.72 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "4.07 meters",
+    "closeness rank": 12
+   }
+  },
+  "trash can": {
+   "kettle": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "shoe rack": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "suitcase": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "3.79 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "4.26 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "5.19 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "5.54 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "6.13 meters",
+    "closeness rank": 12
+   }
+  },
+  "cutting board": {
+   "kettle": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "shoe rack": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "4.0 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "4.47 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "4.79 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "5.81 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "6.05 meters",
+    "closeness rank": 12
+   }
+  },
+  "kettle": {
+   "cutting board": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "shoe rack": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "1.78 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "3.85 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "4.33 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "5.01 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "5.63 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "6.08 meters",
+    "closeness rank": 12
+   }
+  },
+  "microwave": {
+   "refrigerator": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "shoe rack": {
+    "distance": "2.7 meters",
+    "closeness rank": 6
+   },
+   "suitcase": {
+    "distance": "3.01 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "4.53 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "4.99 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "5.92 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "6.73 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "7.29 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["tv", "suitcase", "sofa", "shoe rack", "plant", "bookshelf", "pillow", "blanket", "trash can", "refrigerator", "cutting board", "microwave", "kettle"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/0d2ee665be.json b/data/spatial codes/ground truth/explicit/0d2ee665be.json
new file mode 100644
index 0000000000000000000000000000000000000000..c206f8c6220e406bd87138ed1a8bafa6008226ed
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/0d2ee665be.json	
@@ -0,0 +1,790 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.66 meters",
+      "y coordinate": "2.01 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "4.24 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "4.06 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "3.73 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "4.23 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.64 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "2.31 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.98 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "3.75 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "3.86 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "pan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.79 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.59 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "1.86 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "cutting board": {
+   "microwave": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "pan": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.98 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "2.2 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.35 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.41 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.55 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   }
+  },
+  "monitor": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.24 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.86 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "2.68 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.88 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "3.18 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "5.14 meters",
+    "closeness rank": 11
+   }
+  },
+  "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
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.17 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "1.98 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.3 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.6 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.25 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "pan": {
+    "distance": "2.3 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "5.13 meters",
+    "closeness rank": 11
+   }
+  },
+  "keyboard": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.89 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "2.65 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.92 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "3.13 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "5.15 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "cutting board": {
+    "distance": "2.55 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "2.76 meters",
+    "closeness rank": 2
+   },
+   "pan": {
+    "distance": "3.7 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "4.03 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "4.19 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "4.6 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "4.66 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "4.96 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "5.13 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "5.14 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "5.15 meters",
+    "closeness rank": 11
+   }
+  },
+  "bed": {
+   "pan": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.71 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.86 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.89 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.03 meters",
+    "closeness rank": 11
+   }
+  },
+  "laptop": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "2.2 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.5 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "2.79 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.66 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash can": {
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "1.85 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.27 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "2.46 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.19 meters",
+    "closeness rank": 11
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "2.35 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "2.82 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.96 meters",
+    "closeness rank": 11
+   }
+  },
+  "pan": {
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.3 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "2.79 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.82 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "3.13 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "3.18 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.7 meters",
+    "closeness rank": 11
+   }
+  },
+  "microwave": {
+   "cutting board": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "pan": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "2.27 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "2.5 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.65 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.66 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.88 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.92 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "bed", "trash can", "computer mouse", "microwave", "pan", "door", "cutting board", "monitor", "keyboard", "laptop"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/13c3e046d7.json b/data/spatial codes/ground truth/explicit/13c3e046d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2676bf333565cf1e57c63c71417485cdb53c28d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/13c3e046d7.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.98 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "trash can": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   }
+  },
+  "heater": {
+   "trash can": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   }
+  },
+  "trash can": {
+   "heater": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["door", "heater", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/1ada7a0617.json b/data/spatial codes/ground truth/explicit/1ada7a0617.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a3ecc571670a05c9e8250e1055efb01ed021685
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/1ada7a0617.json	
@@ -0,0 +1,688 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bucket": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "3.69 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "3.7 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.36 meters",
+      "y coordinate": "3.96 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "2.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.96 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.03 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.9 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.99 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "3.62 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.76 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "2.78 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.01 meters",
+      "y coordinate": "1.99 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.46 meters",
+      "y coordinate": "2.65 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.13 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "computer tower": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.09 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.56 meters",
+      "y coordinate": "2.65 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.76 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.39 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.69 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.3 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bucket": {
+   "whiteboard": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.57 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "2.68 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "bucket": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.2 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.21 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.57 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   }
+  },
+  "heater": {
+   "telephone": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.68 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.52 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.64 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.2 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "1.3 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.25 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "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
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.37 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "1.45 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 9
+   }
+  },
+  "computer tower": {
+   "computer mouse": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.24 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.62 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.68 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.57 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.08 meters",
+    "closeness rank": 9
+   }
+  },
+  "computer mouse": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "1.39 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.58 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "bucket": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "2.25 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.48 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "2.58 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "2.68 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "4.08 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "4.52 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["bucket", "whiteboard", "chair", "heater", "keyboard", "monitor", "computer tower", "telephone", "computer mouse", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/21d970d8de.json b/data/spatial codes/ground truth/explicit/21d970d8de.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a59670b1cc48c4773afb7d985f2074c9ffa4208
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/21d970d8de.json	
@@ -0,0 +1,692 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.5 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.43 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.3 meters",
+      "y coordinate": "5.75 meters",
+      "height above floor": "1.75 meters"
+     },
+     "longest dimension": "2.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.02 meters",
+      "y coordinate": "3.88 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 40,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.31 meters",
+      "y coordinate": "8.11 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.59 meters",
+      "y coordinate": "8.08 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.52 meters",
+      "y coordinate": "7.53 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.48 meters",
+      "y coordinate": "7.35 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "8.28 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.51 meters",
+      "y coordinate": "6.82 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.26 meters",
+      "y coordinate": "5.87 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.16 meters",
+      "y coordinate": "4.98 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.99 meters",
+      "y coordinate": "4.49 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.88 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.45 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.49 meters",
+      "y coordinate": "2.68 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.69 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.84 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.93 meters",
+      "y coordinate": "4.67 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.05 meters",
+      "y coordinate": "5.21 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.04 meters",
+      "y coordinate": "5.93 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.3 meters",
+      "y coordinate": "6.43 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.39 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.4 meters",
+      "y coordinate": "3.91 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.85 meters",
+      "y coordinate": "4.89 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.71 meters",
+      "y coordinate": "5.47 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.87 meters",
+      "y coordinate": "6.5 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.26 meters",
+      "y coordinate": "6.37 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "5.25 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.69 meters",
+      "y coordinate": "4.25 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "3.35 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "3.53 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "4.21 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "4.79 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "5.39 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "5.91 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.02 meters",
+      "y coordinate": "6.59 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "7.24 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "7.76 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "7.53 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.37 meters",
+      "y coordinate": "2.68 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.27 meters",
+      "y coordinate": "6.77 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.53 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.63 meters",
+      "y coordinate": "7.64 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.3 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.95 meters",
+      "y coordinate": "6.94 meters",
+      "height above floor": "2.96 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.79 meters",
+      "y coordinate": "6.49 meters",
+      "height above floor": "2.95 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.11 meters",
+      "y coordinate": "7.35 meters",
+      "height above floor": "2.96 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "7.79 meters",
+      "height above floor": "2.95 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "5.28 meters",
+      "height above floor": "2.96 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.55 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "2.97 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.34 meters",
+      "y coordinate": "4.36 meters",
+      "height above floor": "2.97 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "2.97 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "2.73 meters",
+      "height above floor": "2.98 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.74 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "2.97 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.54 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "2.99 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.03 meters",
+      "y coordinate": "3.98 meters",
+      "height above floor": "3.09 meters"
+     },
+     "longest dimension": "2.47 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "54.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "whiteboard": {
+   "ceiling light": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "whiteboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.85 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "whiteboard": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "4.77 meters",
+    "closeness rank": 5
+   }
+  },
+  "telephone": {
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "2.12 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "4.77 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "7.13 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "7.13 meters",
+    "closeness rank": 5
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "chair", "tv", "telephone", "door", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/25f3b7a318.json b/data/spatial codes/ground truth/explicit/25f3b7a318.json
new file mode 100644
index 0000000000000000000000000000000000000000..87e149cdd505529c61dcefe3cab51ec0c35f895d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/25f3b7a318.json	
@@ -0,0 +1,862 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.02 meters",
+      "y coordinate": "2.75 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.46 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.47 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.73 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.52 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.53 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "shoe rack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "shoes": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "2.59 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "2.6 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "2.6 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "2.63 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.66 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.31 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.27 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "laptop": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "2.17 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "3.25 meters",
+    "closeness rank": 6
+   },
+   "shoes": {
+    "distance": "3.99 meters",
+    "closeness rank": 7
+   },
+   "shoe rack": {
+    "distance": "4.02 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "4.89 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "5.26 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "5.68 meters",
+    "closeness rank": 11
+   }
+  },
+  "heater": {
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "2.03 meters",
+    "closeness rank": 6
+   },
+   "shoe rack": {
+    "distance": "3.79 meters",
+    "closeness rank": 7
+   },
+   "shoes": {
+    "distance": "3.81 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "4.0 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "4.51 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "5.0 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.07 meters",
+    "closeness rank": 6
+   },
+   "shoes": {
+    "distance": "2.79 meters",
+    "closeness rank": 7
+   },
+   "shoe rack": {
+    "distance": "2.81 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "3.72 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "4.11 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.47 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.07 meters",
+    "closeness rank": 6
+   },
+   "shoes": {
+    "distance": "2.96 meters",
+    "closeness rank": 7
+   },
+   "shoe rack": {
+    "distance": "2.99 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "3.78 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "4.17 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.63 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "basket": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "shoes": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "shoe rack": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.48 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.55 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "3.93 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "4.47 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "4.63 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "5.0 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "5.68 meters",
+    "closeness rank": 11
+   }
+  },
+  "shoe rack": {
+   "shoes": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.66 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "2.69 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.81 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.99 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "3.79 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "4.02 meters",
+    "closeness rank": 11
+   }
+  },
+  "shoes": {
+   "shoe rack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "2.72 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.79 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.96 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "3.81 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "3.99 meters",
+    "closeness rank": 11
+   }
+  },
+  "basket": {
+   "door": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "shoe rack": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "shoes": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.05 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "3.48 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "4.11 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "4.17 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "4.51 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "5.26 meters",
+    "closeness rank": 11
+   }
+  },
+  "bed": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "shoe rack": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "shoes": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "1.94 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "2.05 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 11
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   },
+   "shoe rack": {
+    "distance": "2.69 meters",
+    "closeness rank": 7
+   },
+   "shoes": {
+    "distance": "2.72 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "2.95 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "3.48 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.93 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.48 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   },
+   "shoe rack": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "shoes": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.07 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "2.12 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.55 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "3.25 meters",
+    "closeness rank": 11
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "shoes": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "shoe rack": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "2.95 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "3.72 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.78 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "4.0 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "4.89 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["pillow", "heater", "blanket", "bed", "shoes", "shoe rack", "door", "laptop", "toilet", "basket", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/27dd4da69e.json b/data/spatial codes/ground truth/explicit/27dd4da69e.json
new file mode 100644
index 0000000000000000000000000000000000000000..75c4cdefd8ad15b78d696de92dc0767b68a03444
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/27dd4da69e.json	
@@ -0,0 +1,1473 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "3.7 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.98 meters",
+      "y coordinate": "4.54 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.83 meters",
+      "y coordinate": "5.9 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "4.36 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.96 meters",
+      "y coordinate": "4.95 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.76 meters",
+      "y coordinate": "2.76 meters",
+      "height above floor": "1.73 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.06 meters",
+      "y coordinate": "3.84 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "11.51 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "10.08 meters",
+      "y coordinate": "3.82 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.23 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.12 meters",
+      "y coordinate": "4.32 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.2 meters",
+      "y coordinate": "4.58 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.55 meters",
+      "y coordinate": "4.41 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "suitcase": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "8.3 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.27 meters",
+      "y coordinate": "3.45 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.2 meters",
+      "y coordinate": "3.89 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "2.0 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.74 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.12 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "pan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.49 meters",
+      "y coordinate": "3.94 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "9.74 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.74 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.83 meters",
+      "y coordinate": "4.22 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.45 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.8 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.93 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "suitcase": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.72 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.83 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.91 meters",
+    "closeness rank": 6
+   },
+   "pan": {
+    "distance": "1.92 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.17 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "2.23 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "2.36 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "2.68 meters",
+    "closeness rank": 12
+   },
+   "basket": {
+    "distance": "3.5 meters",
+    "closeness rank": 13
+   },
+   "crate": {
+    "distance": "3.56 meters",
+    "closeness rank": 14
+   },
+   "kettle": {
+    "distance": "3.77 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "3.88 meters",
+    "closeness rank": 16
+   }
+  },
+  "tv": {
+   "kettle": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.88 meters",
+    "closeness rank": 8
+   },
+   "suitcase": {
+    "distance": "3.97 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "8.0 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "8.58 meters",
+    "closeness rank": 11
+   },
+   "pan": {
+    "distance": "8.8 meters",
+    "closeness rank": 12
+   },
+   "cutting board": {
+    "distance": "8.81 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "9.32 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "9.53 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "9.59 meters",
+    "closeness rank": 16
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.04 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.17 meters",
+    "closeness rank": 8
+   },
+   "suitcase": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "7.0 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "7.34 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "7.54 meters",
+    "closeness rank": 12
+   },
+   "pan": {
+    "distance": "7.57 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "8.07 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "8.76 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "8.88 meters",
+    "closeness rank": 16
+   }
+  },
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "suitcase": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "1.51 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.64 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "4.76 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "5.0 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "5.2 meters",
+    "closeness rank": 12
+   },
+   "pan": {
+    "distance": "5.25 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "5.73 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "6.53 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "6.68 meters",
+    "closeness rank": 16
+   }
+  },
+  "telephone": {
+   "cutting board": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "pan": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.78 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "2.4 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "3.87 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "4.89 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "5.73 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "6.01 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "8.07 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "8.74 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "9.2 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "9.32 meters",
+    "closeness rank": 14
+   },
+   "basket": {
+    "distance": "9.57 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "9.62 meters",
+    "closeness rank": 16
+   }
+  },
+  "crate": {
+   "trash can": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "2.03 meters",
+    "closeness rank": 2
+   },
+   "pan": {
+    "distance": "3.37 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.56 meters",
+    "closeness rank": 4
+   },
+   "cutting board": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "3.87 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "3.87 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "5.72 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "6.15 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "6.68 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "8.88 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "9.59 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "9.83 meters",
+    "closeness rank": 13
+   },
+   "kettle": {
+    "distance": "10.04 meters",
+    "closeness rank": 14
+   },
+   "basket": {
+    "distance": "10.15 meters",
+    "closeness rank": 15
+   },
+   "laptop": {
+    "distance": "10.15 meters",
+    "closeness rank": 16
+   }
+  },
+  "monitor": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.23 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.29 meters",
+    "closeness rank": 8
+   },
+   "suitcase": {
+    "distance": "3.62 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "7.81 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "8.01 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "8.22 meters",
+    "closeness rank": 12
+   },
+   "pan": {
+    "distance": "8.29 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "8.74 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "9.67 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "9.83 meters",
+    "closeness rank": 16
+   }
+  },
+  "laptop": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.21 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.45 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.68 meters",
+    "closeness rank": 8
+   },
+   "suitcase": {
+    "distance": "3.97 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "8.2 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "8.47 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "8.67 meters",
+    "closeness rank": 12
+   },
+   "pan": {
+    "distance": "8.72 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "9.2 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "10.01 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "10.15 meters",
+    "closeness rank": 16
+   }
+  },
+  "suitcase": {
+   "door": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.76 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "3.62 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "3.82 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "3.97 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.97 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "4.16 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "4.17 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "4.19 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "4.35 meters",
+    "closeness rank": 12
+   },
+   "pan": {
+    "distance": "4.38 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "4.89 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "5.57 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "5.72 meters",
+    "closeness rank": 16
+   }
+  },
+  "trash can": {
+   "crate": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "1.46 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.83 meters",
+    "closeness rank": 3
+   },
+   "pan": {
+    "distance": "1.9 meters",
+    "closeness rank": 4
+   },
+   "cutting board": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.4 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "2.59 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "5.57 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "6.0 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "6.53 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "8.76 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "9.53 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "9.67 meters",
+    "closeness rank": 13
+   },
+   "kettle": {
+    "distance": "9.94 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "10.01 meters",
+    "closeness rank": 15
+   },
+   "basket": {
+    "distance": "10.03 meters",
+    "closeness rank": 16
+   }
+  },
+  "microwave": {
+   "pan": {
+    "distance": "1.15 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "1.42 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.78 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.03 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.68 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "3.82 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "4.48 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "4.76 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "7.0 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "7.81 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "8.0 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "8.2 meters",
+    "closeness rank": 14
+   },
+   "kettle": {
+    "distance": "8.37 meters",
+    "closeness rank": 15
+   },
+   "basket": {
+    "distance": "8.39 meters",
+    "closeness rank": 16
+   }
+  },
+  "pan": {
+   "cutting board": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.9 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.92 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "3.37 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "4.38 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "5.25 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "5.37 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "7.57 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "8.29 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "8.72 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "8.8 meters",
+    "closeness rank": 14
+   },
+   "basket": {
+    "distance": "9.04 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "9.07 meters",
+    "closeness rank": 16
+   }
+  },
+  "sofa": {
+   "suitcase": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "2.16 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.29 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "2.45 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "4.48 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "5.31 meters",
+    "closeness rank": 11
+   },
+   "pan": {
+    "distance": "5.37 meters",
+    "closeness rank": 12
+   },
+   "cutting board": {
+    "distance": "5.47 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "6.0 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "6.01 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "6.15 meters",
+    "closeness rank": 16
+   }
+  },
+  "power strip": {
+   "cutting board": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "pan": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.36 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "2.59 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "3.87 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "4.19 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "5.0 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "5.31 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "7.34 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "8.01 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "8.47 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "8.58 meters",
+    "closeness rank": 14
+   },
+   "basket": {
+    "distance": "8.83 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "8.88 meters",
+    "closeness rank": 16
+   }
+  },
+  "cutting board": {
+   "pan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "2.04 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "3.58 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "4.35 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "5.2 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "5.47 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "7.54 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "8.22 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "8.67 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "8.81 meters",
+    "closeness rank": 14
+   },
+   "basket": {
+    "distance": "9.03 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "9.08 meters",
+    "closeness rank": 16
+   }
+  },
+  "kettle": {
+   "basket": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.16 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.77 meters",
+    "closeness rank": 8
+   },
+   "suitcase": {
+    "distance": "4.17 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "8.37 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "8.88 meters",
+    "closeness rank": 11
+   },
+   "pan": {
+    "distance": "9.07 meters",
+    "closeness rank": 12
+   },
+   "cutting board": {
+    "distance": "9.08 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "9.62 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "9.94 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "10.04 meters",
+    "closeness rank": 16
+   }
+  },
+  "basket": {
+   "kettle": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.4 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.5 meters",
+    "closeness rank": 8
+   },
+   "suitcase": {
+    "distance": "4.16 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "8.39 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "8.83 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "9.03 meters",
+    "closeness rank": 12
+   },
+   "pan": {
+    "distance": "9.04 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "9.57 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "10.03 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "10.15 meters",
+    "closeness rank": 16
+   }
+  }
+ },
+ "appearance order": ["power strip", "pan", "microwave", "cutting board", "trash can", "crate", "telephone", "door", "sofa", "bed", "suitcase", "tv", "laptop", "kettle", "monitor", "chair", "basket"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/286b55a2bf.json b/data/spatial codes/ground truth/explicit/286b55a2bf.json
new file mode 100644
index 0000000000000000000000000000000000000000..727346f7ee86250e4c75bd9c2823825d74c6342e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/286b55a2bf.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "2.33 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "2.16 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "exhaust fan": {
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "cup": {
+   "toilet": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "toilet": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "exhaust fan", "toilet", "cup", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/31a2c91c43.json b/data/spatial codes/ground truth/explicit/31a2c91c43.json
new file mode 100644
index 0000000000000000000000000000000000000000..32ef3833919e4a01df59ce72e9dc98a65235ff26
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/31a2c91c43.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "2.34 meters"
+     },
+     "longest dimension": "0.07 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.96 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.89 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.89 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "toilet": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "toilet", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/3864514494.json b/data/spatial codes/ground truth/explicit/3864514494.json
new file mode 100644
index 0000000000000000000000000000000000000000..db8a5e47a7d5b99e27724b1722e797e96570bb7b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/3864514494.json	
@@ -0,0 +1,253 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.74 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.53 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.42 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.18 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "heater": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.49 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash can": {
+   "heater": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "cup": {
+   "microwave": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.71 meters",
+    "closeness rank": 4
+   }
+  },
+  "microwave": {
+   "cup": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "1.29 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "2.49 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "2.71 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "4.49 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["heater", "trash can", "cup", "microwave", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/38d58a7a31.json b/data/spatial codes/ground truth/explicit/38d58a7a31.json
new file mode 100644
index 0000000000000000000000000000000000000000..07efa4fa83f461bd6855c71843011524aec28e37
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/38d58a7a31.json	
@@ -0,0 +1,1016 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 36,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "6.62 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.51 meters",
+      "y coordinate": "6.63 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.89 meters",
+      "y coordinate": "4.47 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.19 meters",
+      "y coordinate": "4.7 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.82 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.98 meters",
+      "y coordinate": "4.91 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "7.53 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.68 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.27 meters",
+      "y coordinate": "3.5 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.61 meters",
+      "y coordinate": "6.28 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.06 meters",
+      "y coordinate": "5.91 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.09 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "6.01 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.53 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "6.61 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.04 meters",
+      "y coordinate": "6.23 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "7.17 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "5.05 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.52 meters",
+      "y coordinate": "6.22 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.67 meters",
+      "y coordinate": "4.33 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.95 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.82 meters",
+      "y coordinate": "2.41 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.31 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.05 meters",
+      "y coordinate": "3.35 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.36 meters",
+      "y coordinate": "5.73 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.81 meters",
+      "y coordinate": "6.11 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.38 meters",
+      "y coordinate": "4.8 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "4.86 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "7.13 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "7.25 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "6.62 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "6.6 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "6.61 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.83 meters",
+      "y coordinate": "6.27 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.03 meters",
+      "y coordinate": "5.51 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.58 meters",
+      "y coordinate": "5.79 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.21 meters",
+      "y coordinate": "6.03 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.76 meters",
+      "y coordinate": "3.84 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.67 meters",
+      "y coordinate": "3.95 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "4.57 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.35 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.71 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "3.0 meters"
+     },
+     "longest dimension": "2.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "3.02 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.51 meters",
+      "y coordinate": "6.58 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.21 meters",
+      "y coordinate": "4.76 meters",
+      "height above floor": "3.01 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.93 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "2.99 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.14 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "3.02 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.92 meters",
+      "y coordinate": "6.2 meters",
+      "height above floor": "3.01 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.65 meters",
+      "y coordinate": "4.37 meters",
+      "height above floor": "3.02 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.4 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "3.01 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.7 meters",
+      "y coordinate": "2.6 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "2.43 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.78 meters",
+      "y coordinate": "4.15 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.0 meters",
+      "y coordinate": "5.91 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.18 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "4.04 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.34 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.26 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "coat hanger": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "7.81 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "52.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "coat hanger": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.37 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.43 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.77 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "coat hanger": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.14 meters",
+    "closeness rank": 9
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "1.06 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
+   "coat hanger": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.77 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.14 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "2.43 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.57 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "coat hanger": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.89 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.06 meters",
+    "closeness rank": 9
+   }
+  },
+  "heater": {
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "coat hanger": {
+    "distance": "6.46 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "6.8 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "7.13 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash can": {
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "coat hanger": {
+    "distance": "1.92 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.57 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "6.77 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "6.8 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "6.95 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.78 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   },
+   "coat hanger": {
+    "distance": "6.47 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "6.95 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "7.18 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.01 meters",
+    "closeness rank": 6
+   },
+   "coat hanger": {
+    "distance": "6.36 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "6.77 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "7.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "trash can": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "coat hanger": {
+    "distance": "1.53 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "7.04 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "7.13 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "7.18 meters",
+    "closeness rank": 9
+   }
+  },
+  "coat hanger": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.53 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.92 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "6.36 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "6.46 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "6.47 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "ceiling light", "door", "heater", "trash can", "telephone", "keyboard", "whiteboard", "coat hanger"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/3db0a1c8f3.json b/data/spatial codes/ground truth/explicit/3db0a1c8f3.json
new file mode 100644
index 0000000000000000000000000000000000000000..83aa44b91cfd81304c81d5ca66d90a2b9ec3e622
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/3db0a1c8f3.json	
@@ -0,0 +1,1664 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.15 meters",
+      "y coordinate": "7.76 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.76 meters",
+      "y coordinate": "5.42 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.95 meters",
+      "y coordinate": "7.26 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.39 meters",
+      "y coordinate": "4.21 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.79 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.45 meters",
+      "y coordinate": "7.36 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.29 meters",
+      "y coordinate": "3.42 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.19 meters",
+      "y coordinate": "7.59 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.4 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.49 meters",
+      "y coordinate": "3.27 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.84 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.19 meters",
+      "y coordinate": "6.89 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "10.08 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "2.14 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "3.25 meters",
+      "height above floor": "2.22 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.55 meters",
+      "y coordinate": "3.71 meters",
+      "height above floor": "2.36 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
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+   "bowl": {
+    "distance": "4.58 meters",
+    "closeness rank": 15
+   },
+   "heater": {
+    "distance": "4.85 meters",
+    "closeness rank": 16
+   },
+   "kettle": {
+    "distance": "5.0 meters",
+    "closeness rank": 17
+   }
+  },
+  "tv": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "blanket": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.55 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.89 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.94 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "3.01 meters",
+    "closeness rank": 10
+   },
+   "pan": {
+    "distance": "3.75 meters",
+    "closeness rank": 11
+   },
+   "basket": {
+    "distance": "3.84 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "4.06 meters",
+    "closeness rank": 13
+   },
+   "cutting board": {
+    "distance": "4.33 meters",
+    "closeness rank": 14
+   },
+   "bowl": {
+    "distance": "4.41 meters",
+    "closeness rank": 15
+   },
+   "heater": {
+    "distance": "4.66 meters",
+    "closeness rank": 16
+   },
+   "kettle": {
+    "distance": "4.85 meters",
+    "closeness rank": 17
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "bowl": {
+    "distance": "2.31 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "2.62 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "2.68 meters",
+    "closeness rank": 7
+   },
+   "pan": {
+    "distance": "2.76 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "3.0 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "3.23 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.59 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "3.89 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "4.06 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "4.26 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "4.28 meters",
+    "closeness rank": 15
+   },
+   "bed": {
+    "distance": "4.53 meters",
+    "closeness rank": 16
+   },
+   "blanket": {
+    "distance": "4.53 meters",
+    "closeness rank": 17
+   }
+  },
+  "kettle": {
+   "basket": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "bowl": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "pan": {
+    "distance": "0.9 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.9 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.62 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "3.19 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "3.77 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.21 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "4.85 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "5.0 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "5.5 meters",
+    "closeness rank": 15
+   },
+   "blanket": {
+    "distance": "6.13 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "6.13 meters",
+    "closeness rank": 17
+   }
+  },
+  "bowl": {
+   "basket": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "kettle": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "pan": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "1.2 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.67 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.31 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.9 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "3.47 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.84 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "4.41 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "4.58 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "5.05 meters",
+    "closeness rank": 15
+   },
+   "blanket": {
+    "distance": "5.67 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "5.68 meters",
+    "closeness rank": 17
+   }
+  },
+  "cutting board": {
+   "basket": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "pan": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "bowl": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "2.0 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.39 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "3.0 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "3.19 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "4.33 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "4.39 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "4.47 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "5.06 meters",
+    "closeness rank": 15
+   },
+   "blanket": {
+    "distance": "5.76 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "5.77 meters",
+    "closeness rank": 17
+   }
+  },
+  "basket": {
+   "kettle": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "bowl": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "pan": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.43 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.44 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "1.54 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "3.84 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "3.85 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.19 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "4.78 meters",
+    "closeness rank": 15
+   },
+   "blanket": {
+    "distance": "5.5 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "5.5 meters",
+    "closeness rank": 17
+   }
+  },
+  "pan": {
+   "cutting board": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "2.11 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.76 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "3.75 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.83 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "3.88 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "4.49 meters",
+    "closeness rank": 15
+   },
+   "blanket": {
+    "distance": "5.19 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "5.19 meters",
+    "closeness rank": 17
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.54 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.78 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "3.17 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "4.53 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "4.63 meters",
+    "closeness rank": 11
+   },
+   "pan": {
+    "distance": "5.19 meters",
+    "closeness rank": 12
+   },
+   "heater": {
+    "distance": "5.36 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "5.5 meters",
+    "closeness rank": 14
+   },
+   "bowl": {
+    "distance": "5.67 meters",
+    "closeness rank": 15
+   },
+   "cutting board": {
+    "distance": "5.76 meters",
+    "closeness rank": 16
+   },
+   "kettle": {
+    "distance": "6.13 meters",
+    "closeness rank": 17
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "keyboard", "basket", "tv", "table", "sofa", "refrigerator", "chair", "blanket", "pan", "door", "cutting board", "bed", "kettle", "heater", "bowl", "printer", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/3e8bba0176.json b/data/spatial codes/ground truth/explicit/3e8bba0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f171dc794e3be2a04ea0be781ac4f5bb17a051
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/3e8bba0176.json	
@@ -0,0 +1,696 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "coat hanger": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  },
+  "paper bag": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.19 meters",
+      "y coordinate": "3.13 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.97 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "3.89 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "2.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "2.43 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "2.77 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "3.57 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "3.54 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.17 meters",
+      "y coordinate": "2.43 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.05 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.7 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.12 meters",
+      "y coordinate": "2.63 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.13 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "2.71 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.32 meters",
+      "y coordinate": "2.43 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "2.94 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.87 meters",
+      "y coordinate": "3.2 meters",
+      "height above floor": "2.94 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "2.91 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.08 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "coat hanger": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "paper bag": {
+    "distance": "1.81 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.94 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "paper bag": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.52 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 7
+   },
+   "coat hanger": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.9 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "coat hanger": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.08 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.22 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "coat hanger": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.29 meters",
+    "closeness rank": 8
+   },
+   "paper bag": {
+    "distance": "1.36 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "paper bag": {
+    "distance": "1.79 meters",
+    "closeness rank": 5
+   },
+   "coat hanger": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.04 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.7 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash can": {
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "paper bag": {
+    "distance": "1.52 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.49 meters",
+    "closeness rank": 8
+   },
+   "coat hanger": {
+    "distance": "2.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "paper bag": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "coat hanger": {
+    "distance": "1.91 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "paper bag": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "coat hanger": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.04 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.17 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.7 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
+   },
+   "paper bag": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "coat hanger": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "coat hanger": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "paper bag": {
+    "distance": "1.9 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.04 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.49 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["coat hanger", "paper bag", "chair", "whiteboard", "door", "trash can", "monitor", "keyboard", "table", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/3f15a9266d.json b/data/spatial codes/ground truth/explicit/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b1979ca6703eb9816506f46509c29e6a386762
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/3f15a9266d.json	
@@ -0,0 +1,640 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "2.53 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.96 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "2.52 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.75 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "2.43 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.74 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.7 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.24 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.26 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.49 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.27 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "1.28 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "3.04 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "3.15 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "3.23 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.38 meters",
+    "closeness rank": 9
+   }
+  },
+  "bookshelf": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "1.54 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.45 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.55 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.57 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.65 meters",
+    "closeness rank": 9
+   }
+  },
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.67 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.68 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   }
+  },
+  "exhaust fan": {
+   "ceiling light": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.05 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   }
+  },
+  "cup": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.96 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.67 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.13 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.65 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.38 meters",
+    "closeness rank": 9
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.05 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.55 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.15 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.42 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.67 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.94 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.57 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.45 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.23 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "bookshelf", "ceiling light", "exhaust fan", "cup", "telephone", "computer mouse", "keyboard", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/40aec5fffa.json b/data/spatial codes/ground truth/explicit/40aec5fffa.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9f8e850d1d9870ca5ca5860ce56bbeaff601444
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/40aec5fffa.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.92 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "heater": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "2.34 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "3.31 meters",
+    "closeness rank": 3
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "2.34 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "3.6 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "microwave": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "3.31 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "4.47 meters",
+    "closeness rank": 3
+   }
+  },
+  "heater": {
+   "refrigerator": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "3.6 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "4.47 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "microwave", "door", "heater"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41069025.json b/data/spatial codes/ground truth/explicit/41069025.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5c1bc331e1f7f7f1d8c3afa35f92ecde61311b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41069025.json	
@@ -0,0 +1,253 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.37 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.28 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.01 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "2.44 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.5 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.85 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.81 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.82 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.81 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.93 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.82 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["stove", "sofa", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41069043.json b/data/spatial codes/ground truth/explicit/41069043.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccf53f5abf5188fa9d11f7770831ea1bafbfb178
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41069043.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-0.92 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.92 meters",
+      "y coordinate": "-2.6 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.68 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.68 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41069048.json b/data/spatial codes/ground truth/explicit/41069048.json
new file mode 100644
index 0000000000000000000000000000000000000000..0632a0e3ee88795ea37c0061247159eecbbcde0c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41069048.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41125700.json b/data/spatial codes/ground truth/explicit/41125700.json
new file mode 100644
index 0000000000000000000000000000000000000000..02ab77846091bdde5e8f6685664bfbdeca4d0bc1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41125700.json	
@@ -0,0 +1,222 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "3.86 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "2.75 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.36 meters",
+      "y coordinate": "3.12 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "sofa": {
+    "distance": "1.21 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.53 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.28 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.28 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["stove", "sofa", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41125731.json b/data/spatial codes/ground truth/explicit/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..5355b465e076a11beaa8806dc863bf47e15238c2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41125731.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-2.15 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41125760.json b/data/spatial codes/ground truth/explicit/41125760.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9579a6b770a3b98a83d6e84e1b755a08f93e686
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41125760.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41142280.json b/data/spatial codes/ground truth/explicit/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f29bf893891a2c8593bbb5a4a931f9cb3a530bb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41142280.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159504.json b/data/spatial codes/ground truth/explicit/41159504.json
new file mode 100644
index 0000000000000000000000000000000000000000..65f0cd79a9154681444a75269ceff01852e5d7c4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159504.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "2.64 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.81 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "toilet": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "3.11 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "4.19 meters",
+    "closeness rank": 3
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "2.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.11 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "4.19 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bathtub", "table", "toilet", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159525.json b/data/spatial codes/ground truth/explicit/41159525.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca436a35288495a86176cfcf918f40edbbbf55dc
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159525.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.68 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.24 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.77 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.22 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.75 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.56 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.97 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.26 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.16 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "29.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "refrigerator": {
+    "distance": "2.5 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.51 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.86 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.99 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.5 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.86 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.51 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.99 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["stove", "refrigerator", "table", "stool", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159530.json b/data/spatial codes/ground truth/explicit/41159530.json
new file mode 100644
index 0000000000000000000000000000000000000000..8df66429209e0e0eb835544f5f228733c647564e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159530.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.7 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/42444976.json b/data/spatial codes/ground truth/explicit/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b208462ec50492c3610d6024d2d13e181692210
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42444976.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.43 meters",
+      "y coordinate": "-1.03 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.75 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.03 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.53 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.04 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.36 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "dishwasher": {
+    "distance": "1.78 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.29 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.39 meters",
+    "closeness rank": 4
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.56 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.77 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.56 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.39 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "2.0 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.26 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "dishwasher", "washer", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42445984.json b/data/spatial codes/ground truth/explicit/42445984.json
new file mode 100644
index 0000000000000000000000000000000000000000..5360680d992b4dc10ca8318a836e119b96de019e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42445984.json	
@@ -0,0 +1,223 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.51 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "3.56 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.23 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.88 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "-1.3 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.86 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.1 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   }
+  },
+  "fireplace": {
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446151.json b/data/spatial codes/ground truth/explicit/42446151.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f2e835fedcc59de5f0c7edcb48bdb24585f0b3b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446151.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "2.84 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.29 meters",
+      "y coordinate": "3.7 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "4.96 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "3.78 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.64 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.98 meters",
+      "y coordinate": "5.6 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.59 meters",
+      "y coordinate": "4.81 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "6.08 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "6.48 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "2.19 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "5.96 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.74 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.74 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "stool", "table", "fireplace", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897538.json b/data/spatial codes/ground truth/explicit/42897538.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc677c279756a00fc31e39af668aa9ed00d2e19b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897538.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.78 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.59 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "29.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "sofa": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.54 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.54 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.64 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.64 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "sofa", "table", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897550.json b/data/spatial codes/ground truth/explicit/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..612d0fdcac08fcc31431ec69eab8aa866f312dcf
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897550.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897564.json b/data/spatial codes/ground truth/explicit/42897564.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfd0da97b7ef477d3de8a5107f2d68389803ea89
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897564.json	
@@ -0,0 +1,222 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "3.49 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "5.04 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "refrigerator": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.49 meters",
+    "closeness rank": 3
+   }
+  },
+  "refrigerator": {
+   "stool": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.06 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "5.04 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "stool", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897629.json b/data/spatial codes/ground truth/explicit/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..a210b4ba5bb5ae0ffcfc326ca76686c66734a818
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897629.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-3.2 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "3.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "2.41 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.24 meters",
+      "y coordinate": "2.45 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.65 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.78 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.63 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.14 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "2.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.01 meters",
+      "y coordinate": "4.16 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.53 meters",
+      "y coordinate": "4.61 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.3 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.92 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "50.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.26 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "2.86 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.13 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.97 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "2.84 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.06 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "washer": {
+    "distance": "1.23 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.01 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "5.96 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "9.03 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "1.22 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "4.22 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "5.86 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "8.79 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.99 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "5.86 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "5.96 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "6.15 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "1.99 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.13 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "5.06 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "8.79 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "9.03 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "9.6 meters",
+    "closeness rank": 6
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "1.23 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.84 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.86 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.22 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "6.15 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "9.6 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "refrigerator", "stove", "sofa", "tv", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897647.json b/data/spatial codes/ground truth/explicit/42897647.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee284adb8a48d9dd48a14bf96cb2e6b609567d8e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897647.json	
@@ -0,0 +1,206 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "2.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.27 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.25 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "3.64 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "-2.27 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "2.34 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "3.61 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "37.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.29 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "5.44 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.29 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "5.44 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897688.json b/data/spatial codes/ground truth/explicit/42897688.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff5865930e01f33b540d6a833286c0c8f839deb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897688.json	
@@ -0,0 +1,182 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.36 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.93 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.43 meters",
+      "y coordinate": "-3.94 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "-3.22 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "-4.71 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.55 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.55 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "stool", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897692.json b/data/spatial codes/ground truth/explicit/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..f954f460e3841a7d117a7b0ad2edc28ae38fd140
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897692.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.77 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "32.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.69 meters",
+    "closeness rank": 2
+   }
+  },
+  "stool": {
+   "bed": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.69 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898527.json b/data/spatial codes/ground truth/explicit/42898527.json
new file mode 100644
index 0000000000000000000000000000000000000000..65b8158da83292697e0dbf59d197a5dcafe3e90e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898527.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.32 meters",
+      "y coordinate": "2.25 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.45 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.46 meters",
+      "y coordinate": "3.58 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "4.31 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.84 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "3.82 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "3.03 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "washer": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.42 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.19 meters",
+    "closeness rank": 4
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.16 meters",
+    "closeness rank": 4
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.36 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.14 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.42 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "refrigerator": {
+    "distance": "1.16 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "2.19 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "3.14 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.16 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["stove", "washer", "dishwasher", "refrigerator", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898544.json b/data/spatial codes/ground truth/explicit/42898544.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bac6948d9ef9ac6432f92a44184d4a3848546e0
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898544.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "3.89 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.98 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "4.54 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "4.27 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "stool": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898817.json b/data/spatial codes/ground truth/explicit/42898817.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ecdfdfc91ae07f2a3a175dacbb652f2c6656c8c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898817.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {}
+ },
+ "appearance order": ["washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898826.json b/data/spatial codes/ground truth/explicit/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb66be3f6f2e9e40cccb27c2a6602e297b0bb9e9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898826.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.68 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.89 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.88 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898849.json b/data/spatial codes/ground truth/explicit/42898849.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b61eb2272cbfaa24b065e53d0573d2075b0b3f4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898849.json	
@@ -0,0 +1,364 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "7.09 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.88 meters",
+      "y coordinate": "5.23 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.97 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.88 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "4.52 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "4.92 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.71 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.34 meters",
+      "y coordinate": "4.86 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.98 meters",
+      "y coordinate": "5.01 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "5.39 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "3.45 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "6.88 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.07 meters",
+      "y coordinate": "4.3 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "2.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.33 meters",
+      "y coordinate": "6.98 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.35 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "73.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "fireplace": {
+    "distance": "0.87 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.77 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.01 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.4 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "9.23 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "sofa": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.14 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "7.93 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.1 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "3.14 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "5.4 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.77 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.61 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.75 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.31 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.01 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "4.61 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "7.93 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "9.23 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["tv", "fireplace", "chair", "sofa", "table", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898869.json b/data/spatial codes/ground truth/explicit/42898869.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5465de795e080b3f1a87dfc272123f298a746a5
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898869.json	
@@ -0,0 +1,112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "3.87 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "2.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "2.25 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.85 meters",
+      "y coordinate": "5.2 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "tv": {
+    "distance": "2.16 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "2.16 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899461.json b/data/spatial codes/ground truth/explicit/42899461.json
new file mode 100644
index 0000000000000000000000000000000000000000..8013cd90e220ff9211808984b4a478ec942e680f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899461.json	
@@ -0,0 +1,316 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "5.9 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "2.37 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "7.21 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "6.87 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "4.06 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "7.6 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "6.87 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.42 meters",
+      "y coordinate": "4.24 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "4.77 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "4.81 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "38.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.8 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.53 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "5.76 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.53 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.74 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.53 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.77 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "2.77 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.8 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.92 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "4.74 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "5.76 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "fireplace", "tv", "chair", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899612.json b/data/spatial codes/ground truth/explicit/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..828f76a390f9f3533df4bfc824da69a2e77c405f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899612.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "4.59 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "5.29 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "5.35 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.71 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.9 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "28.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.18 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899617.json b/data/spatial codes/ground truth/explicit/42899617.json
new file mode 100644
index 0000000000000000000000000000000000000000..b623516669b3887140989dcab844afa7f3400a5b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899617.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.74 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.61 meters",
+      "y coordinate": "-0.12 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899685.json b/data/spatial codes/ground truth/explicit/42899685.json
new file mode 100644
index 0000000000000000000000000000000000000000..43013e9965e9c8c88d32d77c9c05f6220ca7a0d3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899685.json	
@@ -0,0 +1,403 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-2.61 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "3.57 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "4.07 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.41 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "3.08 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "36.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.55 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.82 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "4.21 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "6.05 meters",
+    "closeness rank": 6
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.2 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.6 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.46 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "2.55 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "3.2 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "3.82 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.76 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "3.6 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "4.21 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.76 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "5.46 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "6.05 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["washer", "dishwasher", "sofa", "table", "stool", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899698.json b/data/spatial codes/ground truth/explicit/42899698.json
new file mode 100644
index 0000000000000000000000000000000000000000..280589a6f37f44e3fe1899a200ee8423a01bec56
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899698.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.85 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "1.43 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "1.43 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899720.json b/data/spatial codes/ground truth/explicit/42899720.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48fbc3c415c93ac9f65067f181e2811ac2cd579
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899720.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "2.3 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "toilet": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bed": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899725.json b/data/spatial codes/ground truth/explicit/42899725.json
new file mode 100644
index 0000000000000000000000000000000000000000..2da3363b002cff25e4690c3e21e7108d7352c957
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899725.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899729.json b/data/spatial codes/ground truth/explicit/42899729.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cd6596cc8c6c576b6269e3d0ad72156097aa762
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899729.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899739.json b/data/spatial codes/ground truth/explicit/42899739.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa488673c2a9b2571bb044f37108dacc9c3146d5
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899739.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358436.json b/data/spatial codes/ground truth/explicit/44358436.json
new file mode 100644
index 0000000000000000000000000000000000000000..e35f2a80634de35259e553ac1b4103a0d782a7d6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358436.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "6.03 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.59 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "3.41 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "5.32 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "6.31 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "4.03 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "4.03 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358442.json b/data/spatial codes/ground truth/explicit/44358442.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fca4f0df68461c10876da3fb306747bae5633a9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358442.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.33 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.57 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358451.json b/data/spatial codes/ground truth/explicit/44358451.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ee9b369293e4f6c60baa0b782ddb78ea8d4e088
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358451.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {}
+ },
+ "appearance order": ["washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358499.json b/data/spatial codes/ground truth/explicit/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..de6bf2589175caee15a5907612219ae005b0e6ab
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358499.json	
@@ -0,0 +1,379 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "3.39 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.89 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "2.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "5.13 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "6.0 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.98 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.94 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.37 meters",
+      "y coordinate": "4.95 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.84 meters",
+      "y coordinate": "4.64 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "43.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.24 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "2.7 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "3.26 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.35 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "4.05 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "4.69 meters",
+    "closeness rank": 6
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "4.34 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "4.7 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "4.85 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.24 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.35 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "3.47 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "3.89 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "4.77 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.31 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "2.51 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.02 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "4.7 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.77 meters",
+    "closeness rank": 6
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.26 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.89 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.69 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "4.85 meters",
+    "closeness rank": 6
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.51 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.7 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.47 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.05 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "4.34 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "sofa", "fireplace", "tv", "chair", "washer", "dishwasher"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358518.json b/data/spatial codes/ground truth/explicit/44358518.json
new file mode 100644
index 0000000000000000000000000000000000000000..828c8bc2f18eaa293d5e1cdc3cd70f77a2af6ab7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358518.json	
@@ -0,0 +1,253 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "2.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.07 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "3.66 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.6 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.11 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "4.91 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.06 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.87 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "fireplace", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358536.json b/data/spatial codes/ground truth/explicit/44358536.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d69a2508c37fc7c5c93fa4ef5cdbea50852fb02
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358536.json	
@@ -0,0 +1,112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "3.75 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358582.json b/data/spatial codes/ground truth/explicit/44358582.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0077e41eb4e242528c3c06748dcd97a82c3d0e6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358582.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.22 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45260856.json b/data/spatial codes/ground truth/explicit/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aa8aef485db70901f6a5e02e869f2ac5e9ad0d3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45260856.json	
@@ -0,0 +1,159 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.18 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.79 meters",
+      "y coordinate": "-3.76 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.34 meters",
+      "y coordinate": "-3.83 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.5 meters",
+      "y coordinate": "-2.81 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.44 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.46 meters",
+      "y coordinate": "-4.42 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.53 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.87 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   }
+  },
+  "fireplace": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.87 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45260900.json b/data/spatial codes/ground truth/explicit/45260900.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d3910672afd0bc51e93dcaba4b625dacc5cef52
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45260900.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45260905.json b/data/spatial codes/ground truth/explicit/45260905.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c801b7e96c5f2bb52ae45ee350483b9af4c0ff8
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45260905.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.33 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.95 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.57 meters",
+      "y coordinate": "-3.35 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.76 meters",
+      "y coordinate": "-2.04 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.1 meters",
+      "y coordinate": "-4.64 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.34 meters",
+      "y coordinate": "-4.61 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.04 meters",
+      "y coordinate": "-4.63 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "32.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "fireplace", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45260928.json b/data/spatial codes/ground truth/explicit/45260928.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bd3529e51c533a09c93fd0fb884c11533d53a5c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45260928.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.39 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.99 meters",
+      "y coordinate": "-2.77 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.86 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.7 meters",
+      "y coordinate": "-3.02 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.82 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.68 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "-1.85 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.37 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.54 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "table": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.52 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.68 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.52 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.54 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.68 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.92 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "tv", "fireplace", "sofa", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261121.json b/data/spatial codes/ground truth/explicit/45261121.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbf9dcb101d54bab10d492c88175ba04a153fcf9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261121.json	
@@ -0,0 +1,284 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "-2.15 meters",
+      "height above floor": "1.78 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.96 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.44 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.67 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.45 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.0 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.06 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "0.89 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.42 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.48 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.67 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "4.0 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "3.45 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "refrigerator", "stove", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261142.json b/data/spatial codes/ground truth/explicit/45261142.json
new file mode 100644
index 0000000000000000000000000000000000000000..567cc79a3b4621078198be3152618b688eccfd19
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261142.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "4.5 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "3.55 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "3.17 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "2.53 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "washer": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.01 meters",
+    "closeness rank": 4
+   }
+  },
+  "washer": {
+   "sofa": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.28 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.32 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.64 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.32 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.28 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.64 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "washer", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261150.json b/data/spatial codes/ground truth/explicit/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..a78b57658d082a85febc324c5dd2f9a0252782f3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261150.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "2.64 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "1.91 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "2.18 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "2.18 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261182.json b/data/spatial codes/ground truth/explicit/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f1eaaaeaed10ba8f9564d49d57b0ec47d6201c4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261182.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bed": {
+    "distance": "1.77 meters",
+    "closeness rank": 1
+   }
+  },
+  "bed": {
+   "toilet": {
+    "distance": "1.77 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261575.json b/data/spatial codes/ground truth/explicit/45261575.json
new file mode 100644
index 0000000000000000000000000000000000000000..3360e48c9d10eacabf2400cc5a1d75484bb491c8
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261575.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.09 meters",
+      "y coordinate": "-1.65 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.98 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261594.json b/data/spatial codes/ground truth/explicit/45261594.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9f51efa50ebb291ebe9605f86b2421cbf2a0226
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261594.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.23 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261620.json b/data/spatial codes/ground truth/explicit/45261620.json
new file mode 100644
index 0000000000000000000000000000000000000000..64a195a9a525efcfef7c0c93df00499e7ef32974
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261620.json	
@@ -0,0 +1,120 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "2.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "3.67 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "tv": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261637.json b/data/spatial codes/ground truth/explicit/45261637.json
new file mode 100644
index 0000000000000000000000000000000000000000..4053516e0991efbb35d91b05e75c39b7627a81af
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261637.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "3.88 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45662924.json b/data/spatial codes/ground truth/explicit/45662924.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d1b87f41bd3d915c2cd96c2f9d3d4c913fc0545
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45662924.json	
@@ -0,0 +1,285 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.28 meters",
+      "y coordinate": "4.37 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.71 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-6.19 meters",
+      "y coordinate": "2.87 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.44 meters",
+      "y coordinate": "2.79 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.96 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.29 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.53 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.95 meters",
+      "y coordinate": "3.5 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.82 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.09 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "3.09 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.95 meters",
+      "y coordinate": "2.25 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "40.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "fireplace": {
+   "stool": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.73 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.03 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "stove": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "stool": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.73 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["fireplace", "table", "chair", "stool", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45662987.json b/data/spatial codes/ground truth/explicit/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4597656bb782bcda8e8d0189adfc364273c4b71
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45662987.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.33 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.94 meters",
+      "y coordinate": "-3.83 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.7 meters",
+      "y coordinate": "-3.63 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-6.53 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-6.46 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-6.71 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.41 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "36.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.62 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.37 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.97 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.62 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.97 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.97 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.37 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "fireplace", "tv", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45663105.json b/data/spatial codes/ground truth/explicit/45663105.json
new file mode 100644
index 0000000000000000000000000000000000000000..b70da383fd2034d6b3fa128ad9afd3646db09ee6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45663105.json	
@@ -0,0 +1,112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "-2.19 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "-2.28 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "stool": {
+   "sofa": {
+    "distance": "2.53 meters",
+    "closeness rank": 1
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "2.53 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["stool", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45663114.json b/data/spatial codes/ground truth/explicit/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..68ef415884eb6962c9e1ec23ef539d108a30009f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45663114.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.32 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45663164.json b/data/spatial codes/ground truth/explicit/45663164.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdce47a334e0a7d99c5f88ccf8d0d66013277378
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45663164.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.64 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.33 meters",
+      "y coordinate": "-2.62 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.66 meters",
+      "y coordinate": "-2.67 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.47 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.33 meters",
+      "y coordinate": "-2.55 meters",
+      "height above floor": "2.06 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "refrigerator": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.66 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "1.84 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "3.61 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "tv": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   }
+  },
+  "dishwasher": {
+   "refrigerator": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "1.59 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "2.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.61 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.56 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "refrigerator", "dishwasher", "stove", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45b0dac5e3.json b/data/spatial codes/ground truth/explicit/45b0dac5e3.json
new file mode 100644
index 0000000000000000000000000000000000000000..188f39ebe0a867c334f2eea495b39ea1d33f1588
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45b0dac5e3.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "2.41 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.52 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "heater": {
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.22 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   }
+  },
+  "cup": {
+   "toilet": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "heater": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.41 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["toilet", "cup", "door", "heater", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47115460.json b/data/spatial codes/ground truth/explicit/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..03df16a266977f44466ebff2f9a105874e16a0ed
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47115460.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.33 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.23 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.06 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.63 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.75 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.74 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["stove", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47204552.json b/data/spatial codes/ground truth/explicit/47204552.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d0abce0fb7272f1e2e0e99ba270a29c9cd6ec34
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47204552.json	
@@ -0,0 +1,269 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.05 meters",
+      "y coordinate": "2.77 meters",
+      "height above floor": "1.59 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-7.81 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-7.32 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-6.81 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-6.27 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.71 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.76 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.56 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.59 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.16 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "35.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "chair": {
+    "distance": "1.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.22 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.81 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.2 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.81 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.78 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.64 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "4.78 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.64 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.64 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "stove", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331063.json b/data/spatial codes/ground truth/explicit/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..8101619a2d90b3b4af5a0d3f99aae416595482b2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331063.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": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.17 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "2.16 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.99 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.04 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.22 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.32 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "stove": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.22 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.32 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table", "chair", "refrigerator", "stove"]
+}
\ No newline at end of file