Add files using upload-large-folder tool

data/spatial codes/.pytest_cache/CACHEDIR.TAG

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+Signature: 8a477f597d28d172789f06886806bc55
+# This file is a cache directory tag created by pytest.
+# For information about cache directory tags, see:
+#	https://bford.info/cachedir/spec.html

data/spatial codes/.pytest_cache/README.md

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+# pytest cache directory #
+
+This directory contains data from the pytest's cache plugin,
+which provides the `--lf` and `--ff` options, as well as the `cache` fixture.
+
+**Do not** commit this to version control.
+
+See [the docs](https://docs.pytest.org/en/stable/how-to/cache.html) for more information.

data/spatial codes/.pytest_cache/v/cache/nodeids

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+[]

data/spatial codes/.pytest_cache/v/cache/stepwise

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+[]

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

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+{
+ "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": {
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "mirror": {
+   "trash bin": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["mirror", "trash bin"]
+}

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

@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "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": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "1.59 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "1.01 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.93 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "towel", "mirror", "trash bin", "door"]
+}

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

@@ -0,0 +1,679 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "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": "-0.66 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "2.24 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
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+      "y coordinate": "-0.58 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
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+      "y coordinate": "0.95 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
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+      "y coordinate": "-0.77 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "monitor": {
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+   "instances": [
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+      "y coordinate": "1.1 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
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+      "y coordinate": "-1.35 meters",
+      "height above floor": "0.99 meters"
+     },
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+    }
+   ]
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+  "backpack": {
+   "count": 1,
+   "instances": [
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+      "y coordinate": "-0.36 meters",
+      "height above floor": "0.32 meters"
+     },
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+    }
+   ]
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+  "trash bin": {
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+   "instances": [
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+      "y coordinate": "-1.3 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "door": {
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+   "instances": [
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+      "y coordinate": "0.78 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
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+      "y coordinate": "0.96 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  }
+ },
+ "room": {
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+ },
+ "closest classes distance meters from": {
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+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
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+    "closeness rank": 3
+   },
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+    "closeness rank": 4
+   },
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+    "closeness rank": 5
+   },
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+    "closeness rank": 6
+   },
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+    "closeness rank": 7
+   },
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+    "closeness rank": 8
+   },
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+   },
+   "trash bin": {
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+    "closeness rank": 10
+   }
+  },
+  "chair": {
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+    "closeness rank": 1
+   },
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+    "distance": "1.15 meters",
+    "closeness rank": 8
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+   },
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+    "closeness rank": 10
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+    "closeness rank": 2
+   },
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+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
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+    "closeness rank": 6
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+    "closeness rank": 7
+   },
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+    "closeness rank": 8
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+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.17 meters",
+    "closeness rank": 10
+   }
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+  "bookshelf": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
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+    "closeness rank": 2
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+    "closeness rank": 3
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+    "closeness rank": 4
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+    "closeness rank": 6
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+    "closeness rank": 7
+   },
+   "trash bin": {
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+    "closeness rank": 8
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+    "distance": "1.77 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.93 meters",
+    "closeness rank": 10
+   }
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+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
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+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.93 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.01 meters",
+    "closeness rank": 8
+   },
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+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.08 meters",
+    "closeness rank": 10
+   }
+  },
+  "monitor": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
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+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "door": {
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+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.96 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.58 meters",
+    "closeness rank": 10
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.01 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.75 meters",
+    "closeness rank": 10
+   }
+  },
+  "backpack": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.63 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.42 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.58 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.42 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.72 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.74 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.18 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.58 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "2.58 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "3.08 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.66 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.63 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.75 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.17 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.66 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.26 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.74 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.18 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["lamp", "table", "monitor", "door", "window", "trash bin", "chair", "bookshelf", "backpack", "bed", "pillow"]
+}

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

@@ -0,0 +1,498 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "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": {
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-1.75 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.92 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "1.38 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-2.62 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "2.8 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "mattress": {
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.92 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.65 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "3.02 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "4.22 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.74 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "3.02 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "4.24 meters",
+    "closeness rank": 7
+   }
+  },
+  "pillow": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.15 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "2.65 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.56 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.15 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "2.71 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.98 meters",
+    "closeness rank": 7
+   }
+  },
+  "radiator": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.71 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "4.22 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "5.27 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "mattress": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.4 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.98 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "3.56 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "4.24 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "5.27 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.07 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["mattress", "chair", "sofa", "pillow", "tv", "radiator", "door", "table"]
+}

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

@@ -0,0 +1,529 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "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": "-0.03 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "2.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "2.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "2.5 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "1.88 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.36 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.46 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "0.47 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.92 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.6 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "3.72 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.83 meters",
+    "closeness rank": 8
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.57 meters",
+    "closeness rank": 8
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.59 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.85 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "2.92 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "2.41 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.59 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "2.75 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.93 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.48 meters",
+    "closeness rank": 8
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.61 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.75 meters",
+    "closeness rank": 8
+   }
+  },
+  "closet": {
+   "nightstand": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.48 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.83 meters",
+    "closeness rank": 8
+   }
+  },
+  "mirror": {
+   "bed": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "1.61 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.74 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.41 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.72 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash bin": {
+   "bed": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.85 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.93 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.6 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["pillow", "nightstand", "closet", "bed", "window", "lamp", "tv", "trash bin", "mirror"]
+}

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

@@ -0,0 +1,521 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "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": "-1.17 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.65 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-2.55 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "-1.3 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "1.43 meters"
+     },
+     "longest dimension": "1.84 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.84 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-1.87 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "2.1 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.92 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.58 meters",
+    "closeness rank": 8
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.18 meters",
+    "closeness rank": 8
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.69 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.11 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.42 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.9 meters",
+    "closeness rank": 8
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.61 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "1.69 meters",
+    "closeness rank": 8
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.61 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.1 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.6 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "3.18 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "3.58 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "3.9 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "bed": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.61 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.85 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.0 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.11 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.97 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "2.6 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["pillow", "nightstand", "bed", "door", "table", "chair", "backpack", "closet", "window"]
+}

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

@@ -0,0 +1,624 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "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": "0.59 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "2.53 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.14 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.61 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "2.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.17 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "radiator": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "3.06 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.93 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.41 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.06 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.75 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.38 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.87 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.86 meters",
+    "closeness rank": 9
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.19 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.68 meters",
+    "closeness rank": 9
+   }
+  },
+  "radiator": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.38 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.8 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.68 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.84 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.19 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.54 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.74 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.87 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.54 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.8 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.06 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.17 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "2.68 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.75 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "2.86 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "3.74 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "4.68 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "4.93 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.37 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.79 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.97 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "monitor", "keyboard", "backpack", "radiator", "telephone", "trash bin", "door", "table"]
+}

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

@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "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": "-0.3 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "3.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "backpack", "table"]
+}

data/spatial codes/ground truth/explicit/scene0702_02.json

@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "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": {
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "2.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "telephone": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["telephone", "trash bin", "door"]
+}

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

@@ -0,0 +1,206 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "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": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "2.78 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   }
+  },
+  "printer": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["counter", "printer", "trash bin", "table"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/13c3e046d7.json

@@ -0,0 +1,142 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "3.0 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "3.67 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "3.97 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.52 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "crate": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "2.35 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "3.0 meters",
+    "closeness rank": 3
+   }
+  },
+  "crate": {
+   "ceiling light": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "2.38 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "3.95 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "2.38 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "3.0 meters",
+    "closeness rank": 3
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "2.35 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "3.95 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "ceiling light", "crate", "door"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/21d970d8de.json

@@ -0,0 +1,897 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-2.14 meters",
+      "height above floor": "2.16 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "2.2 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.19 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "2.21 meters"
+     },
+     "longest dimension": "1.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "2.18 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "2.19 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.4 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "2.14 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "2.17 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.96 meters",
+      "y coordinate": "-2.75 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 35,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.78 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
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+      "y coordinate": "-1.84 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
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+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
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+     },
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+    },
+    {
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+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.28 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
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+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
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+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "-3.2 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
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+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.29 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
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+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
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+      "y coordinate": "-1.64 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
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+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
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+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
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+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
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+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
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+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
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+      "y coordinate": "-3.57 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
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+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
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+      "y coordinate": "-4.06 meters",
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+     },
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+    },
+    {
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+    },
+    {
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+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.3 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "-3.92 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
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+      "y coordinate": "-3.39 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "2.42 meters"
+    },
+    {
+     "position": {
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+      "y coordinate": "-4.71 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
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+      "y coordinate": "-0.13 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
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+      "y coordinate": "-2.68 meters",
+      "height above floor": "-0.02 meters"
+     },
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+    },
+    {
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+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
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+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "clock": {
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+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "1.94 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "1.95 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.38 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 14,
+   "instances": [
+    {
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+ },
+ "appearance order": ["chair", "table", "ceiling light", "door", "tv", "whiteboard", "trash can", "clock", "telephone"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/3f15a9266d.json

@@ -0,0 +1,1719 @@
+{
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+   },
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+   }
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+   },
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+   }
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+   },
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+   },
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+   },
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+   }
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
+   "tv": {
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+   },
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+   },
+   "table": {
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+    "closeness rank": 9
+   },
+   "telephone": {
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+    "closeness rank": 10
+   },
+   "door": {
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+   },
+   "refrigerator": {
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+    "closeness rank": 12
+   },
+   "ceiling light": {
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+    "closeness rank": 13
+   },
+   "crate": {
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+    "closeness rank": 14
+   },
+   "trash can": {
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+    "closeness rank": 15
+   },
+   "cup": {
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+    "closeness rank": 16
+   },
+   "microwave": {
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+    "closeness rank": 17
+   },
+   "clock": {
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+    "closeness rank": 18
+   }
+  }
+ },
+ "appearance order": ["chair", "telephone", "computer mouse", "monitor", "tv", "whiteboard", "cushion", "bookshelf", "door", "bucket", "trash can", "table", "crate", "cup", "ceiling light", "clock", "keyboard", "microwave", "refrigerator"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/41125731.json

@@ -0,0 +1,32 @@
+{
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
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+      "y coordinate": "2.7 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.77 meters"
+    },
+    {
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+      "height above floor": "-0.02 meters"
+     },
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+    }
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+  }
+ },
+ "room": {
+  "floor area": "21.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/41159541.json

@@ -0,0 +1,245 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
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+    },
+    {
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+      "y coordinate": "1.04 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
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+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
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+    {
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+     },
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+    },
+    {
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+     },
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+    },
+    {
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+      "height above floor": "0.13 meters"
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+    {
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+      "y coordinate": "-0.18 meters",
+      "height above floor": "-0.25 meters"
+     },
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+    {
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+     },
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+     },
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+     },
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+  },
+  "tv": {
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+     },
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+  }
+ },
+ "room": {
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+ },
+ "closest classes distance meters from": {
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+   },
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+   },
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+   }
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+   },
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+   },
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+   },
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+    "closeness rank": 4
+   }
+  },
+  "table": {
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+    "closeness rank": 1
+   },
+   "sofa": {
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+    "closeness rank": 2
+   },
+   "tv": {
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+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
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+    "closeness rank": 1
+   },
+   "table": {
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+    "closeness rank": 2
+   },
+   "chair": {
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+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.94 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "tv", "sofa", "bed"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/42445026.json

@@ -0,0 +1,173 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
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+      "x coordinate": "-0.13 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
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+   "instances": [
+    {
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+      "x coordinate": "1.22 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "1.96 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "1.66 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
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+      "y coordinate": "0.13 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.4 square meters"
+ },
+ "closest classes distance meters from": {
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+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.44 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["tv", "bed", "sofa", "chair", "table"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/42445981.json

@@ -0,0 +1,166 @@
+{
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "-0.98 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
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+      "height above floor": "0.37 meters"
+     },
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+    }
+   ]
+  }
+ },
+ "room": {
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+ },
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+    "closeness rank": 1
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+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.62 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.62 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "tv", "table"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/42446517.json

@@ -0,0 +1,158 @@
+{
+ "objects": {
+  "bed": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "-2.12 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "-1.13 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "1.89 meters"
+    },
+    {
+     "position": {
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+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-1.72 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  }
+ },
+ "room": {
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+ },
+ "closest classes distance meters from": {
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+    "closeness rank": 2
+   },
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+    "closeness rank": 3
+   }
+  },
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+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
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+    "distance": "2.54 meters",
+    "closeness rank": 3
+   }
+  },
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+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "bed": {
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+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.57 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.54 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.57 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "table", "tv"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/42446535.json

@@ -0,0 +1,79 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
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+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "4.7 square meters"
+ },
+ "closest classes distance meters from": {
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+    "closeness rank": 1
+   },
+   "toilet": {
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+    "closeness rank": 2
+   }
+  },
+  "bed": {
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+    "closeness rank": 1
+   },
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+    "closeness rank": 2
+   }
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+  "toilet": {
+   "bathtub": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
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+    "distance": "0.96 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "bed"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/42897550.json

@@ -0,0 +1,87 @@
+{
+ "objects": {
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+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.4 square meters"
+ },
+ "closest classes distance meters from": {
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+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "washer"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/42897692.json

@@ -0,0 +1,236 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "-1.27 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "-1.7 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  }
+ },
+ "room": {
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+ },
+ "closest classes distance meters from": {
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+    "closeness rank": 1
+   },
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+    "closeness rank": 2
+   },
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+    "closeness rank": 3
+   },
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+    "closeness rank": 4
+   },
+   "table": {
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+    "closeness rank": 5
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "0.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.79 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.93 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
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+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.92 meters",
+    "closeness rank": 4
+   },
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+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "toilet": {
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+    "closeness rank": 1
+   },
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+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
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+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "toilet": {
+   "stool": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.69 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "bathtub", "sofa", "table", "stool", "toilet"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/42898826.json

@@ -0,0 +1,48 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
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+      "x coordinate": "0.4 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.54 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.0 square meters"
+ },
+ "closest classes distance meters from": {
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+    "closeness rank": 1
+   }
+  },
+  "toilet": {
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+    "distance": "0.88 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/42899612.json

@@ -0,0 +1,134 @@
+{
+ "objects": {
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+   "count": 1,
+   "instances": [
+    {
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+      "y coordinate": "1.86 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "chair": {
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+   "instances": [
+    {
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+      "height above floor": "0.04 meters"
+     },
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+    }
+   ]
+  },
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+   "count": 2,
+   "instances": [
+    {
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+      "height above floor": "0.03 meters"
+     },
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+    },
+    {
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+      "height above floor": "0.3 meters"
+     },
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+    }
+   ]
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+  "table": {
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+    {
+     "position": {
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+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "-2.57 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
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+ },
+ "closest classes distance meters from": {
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+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
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+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
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+    "closeness rank": 3
+   }
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+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
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+    "closeness rank": 3
+   }
+  },
+  "table": {
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+    "closeness rank": 1
+   },
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+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["table", "bed", "stool", "chair"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/44358499.json

@@ -0,0 +1,489 @@
+{
+ "objects": {
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+   "count": 5,
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+      "height above floor": "-0.14 meters"
+     },
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+    },
+    {
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+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "fireplace": {
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+    {
+     "position": {
+      "x coordinate": "4.08 meters",
+      "y coordinate": "2.19 meters",
+      "height above floor": "0.12 meters"
+     },
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+    },
+    {
+     "position": {
+      "x coordinate": "3.67 meters",
+      "y coordinate": "2.4 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "3.45 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
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+      "y coordinate": "1.13 meters",
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+     },
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+  },
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+     },
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+  },
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+     },
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+      "y coordinate": "-1.17 meters",
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+  "tv": {
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+      "y coordinate": "3.61 meters",
+      "height above floor": "0.36 meters"
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+   ]
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+  "washer": {
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+   "instances": [
+    {
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+      "y coordinate": "3.92 meters",
+      "height above floor": "0.09 meters"
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+    }
+   ]
+  }
+ },
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+ },
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+    "closeness rank": 1
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+    "closeness rank": 2
+   },
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+    "closeness rank": 3
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+    "closeness rank": 4
+   },
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+    "closeness rank": 5
+   },
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+    "closeness rank": 6
+   },
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+    "closeness rank": 7
+   },
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+    "closeness rank": 8
+   }
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+    "closeness rank": 1
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+    "closeness rank": 2
+   },
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+    "closeness rank": 3
+   },
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+   },
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+    "closeness rank": 5
+   },
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+   },
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+    "closeness rank": 7
+   },
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+    "closeness rank": 8
+   }
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+   },
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+    "closeness rank": 3
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+    "closeness rank": 4
+   },
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+    "closeness rank": 5
+   },
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+    "closeness rank": 6
+   },
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+    "distance": "4.27 meters",
+    "closeness rank": 7
+   },
+   "fireplace": {
+    "distance": "5.79 meters",
+    "closeness rank": 8
+   }
+  },
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+   "stool": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
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+    "closeness rank": 2
+   },
+   "tv": {
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+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.44 meters",
+    "closeness rank": 4
+   },
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+    "closeness rank": 5
+   },
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+    "closeness rank": 6
+   },
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+    "closeness rank": 7
+   },
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+    "closeness rank": 8
+   }
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+    "closeness rank": 1
+   },
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+    "closeness rank": 2
+   },
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+    "closeness rank": 3
+   },
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+    "closeness rank": 4
+   },
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+    "closeness rank": 5
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+    "closeness rank": 6
+   },
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+    "closeness rank": 7
+   },
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+    "closeness rank": 8
+   }
+  },
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+    "closeness rank": 1
+   },
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+    "closeness rank": 2
+   },
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+    "closeness rank": 3
+   },
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+   },
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+    "closeness rank": 5
+   },
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+    "closeness rank": 6
+   },
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+    "closeness rank": 7
+   },
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+    "closeness rank": 8
+   }
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+   },
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+    "closeness rank": 2
+   },
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+    "closeness rank": 3
+   },
+   "refrigerator": {
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+    "closeness rank": 4
+   },
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+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "3.4 meters",
+    "closeness rank": 6
+   },
+   "tv": {
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+    "closeness rank": 7
+   },
+   "fireplace": {
+    "distance": "5.26 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
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+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "stool": {
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+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.4 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
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+    "closeness rank": 4
+   },
+   "washer": {
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+    "closeness rank": 5
+   },
+   "table": {
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+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "4.8 meters",
+    "closeness rank": 7
+   },
+   "stove": {
+    "distance": "6.4 meters",
+    "closeness rank": 8
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "2.37 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.4 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.84 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.42 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "4.49 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.87 meters",
+    "closeness rank": 7
+   },
+   "fireplace": {
+    "distance": "6.23 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "sofa", "fireplace", "tv", "stool", "refrigerator", "washer", "stove"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/45261182.json

@@ -0,0 +1,56 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.0 square meters"
+ },
+ "closest classes distance meters from": {
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+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bed"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/45662970.json

@@ -0,0 +1,56 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.2 square meters"
+ },
+ "closest classes distance meters from": {
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+   "washer": {
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+   }
+  },
+  "washer": {
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["washer", "bed"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/47115525.json

@@ -0,0 +1,236 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
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+      "x coordinate": "-1.27 meters",
+      "y coordinate": "3.13 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "fireplace": {
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+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "4.67 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "4.7 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "3.24 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
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+      "y coordinate": "4.27 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "table": {
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+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.34 meters",
+      "y coordinate": "5.0 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
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+ },
+ "closest classes distance meters from": {
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+   },
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+   },
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+    "closeness rank": 5
+   }
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+  "fireplace": {
+   "bed": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.9 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.9 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.01 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.24 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "fireplace": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.42 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.89 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.92 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.83 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.73 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.92 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.89 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.24 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["sofa", "fireplace", "table", "bed", "tv", "stool"]
+}

data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/47334362.json

@@ -0,0 +1,103 @@
+{
+ "objects": {
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "-1.12 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.0 meters",
+      "y coordinate": "-2.05 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.36 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.15 meters",
+    "closeness rank": 2
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.15 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "sofa", "tv"]
+}