import tensorflow as tf

        result_dict['iou_min'] = iou_min
      elif isinstance(metric, CollisionMetric):

        labeled_sdfs = detections['groundtruth_sdfs']
        labeled_classes = tf.cast(sample['groundtruth_valid_classes'], tf.int64)
        labeled_poses = (sample['rotations_3d'],
                         sample['translations_3d'],
                         sample['sizes_3d'])

        predicted_classes = tf.cast(detections['detection_classes'], tf.int64)
        predicted_sdfs = detections['predicted_sdfs']
        predicted_poses = (detections['rotations_3d'],
                           detections['translations_3d'],
                           detections['sizes_3d'])

        full_oracle = False
        if full_oracle:
          predicted_sdfs = detections['groundtruth_sdfs'].numpy()
