import tensorflow as tf

          inter = tf.reshape(values, [self.resolution,
                                      self.resolution,
                                      self.resolution])
          inter = tf.transpose(tf.reduce_max(inter, axis=a))
          im = axs[fig_obj_count, 2].matshow(inter.numpy())
          plt.colorbar(im, ax=axs[fig_obj_count, 2])

          fig_obj_count += 1

    intersection = tf.reduce_sum(tf.math.sign(tf.nn.relu(sdf_values - 1)))
    union = tf.reduce_sum(tf.math.sign(sdf_values))
    iou = intersection / union
    self.collisions.append(num_collisions)
    self.intersections.append(intersection)
    self.ious.append(iou)
    return num_collisions, intersection, iou

  def evaluate(self):
