if max_num_matchess > pixels_coord.shape[0] * 0.5:
            n = np.argmax(num_matches)
            instance.mask = masks_2d[n, ...]
            instance.bbox = bboxes_2d[n, ...]

            if instance.mask[instance.mask].shape[0] > self.min_mask_area:
                # Sample non-surface pixels
                non_surface_pixels = self.pixels_sampler(instance.bbox, instance.mask)
                if non_surface_pixels.shape[0] > 200:
                    sample_ind = np.linspace(0, non_surface_pixels.shape[0]-1, 200).astype(np.int32)
                    non_surface_pixels = non_surface_pixels[sample_ind, :]

                pixels_inside_bb = np.concatenate([pixels_uv, non_surface_pixels], axis=0)
                # rays contains all, but depth should only contain foreground
                instance.rays = get_rays(pixels_inside_bb, self.invK).astype(np.float32)
                instance.depth = surface_points[:, 2].astype(np.float32)