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    "number_of_raw_pose_clusters": 2,
    "number_of_instances": 1,
    "remaining_unclustered_observations": 10,
    "rejected_pose_clusters": [
      {
        "number_of_inliers": 5,
        "translation": [
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        ],
        "silhouette_iou_median": 0.46299971647292315,
        "reason": "silhouette_iou_below_threshold"
      }
    ]
  },
  "skipped_frames": [
    {
      "frame_id": 0,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 20,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 35,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 37,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 38,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 41,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 50,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 52,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 60,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 63,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 69,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 71,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 80,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 113,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 116,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 118,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 171,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 173,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 185,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 186,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 216,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 218,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 236,
      "reason": "no_object_pose"
    },
    {
      "frame_id": 246,
      "reason": "no_object_pose"
    }
  ],
  "sources": {
    "config_path": "/workspace/scripts/configs/default.yaml",
    "object_poses": "/workspace/data/0008/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json",
    "colmap_reconstruction": "/workspace/data/0008/reconstruction/sfm_filtered",
    "sim3_alignment": "/workspace/data/0008/reconstruction/metric_alignment"
  }
}