minibatch2.py 文件源码

def _get_viewpoint_estimation_labels(viewpoint_data, clss, num_classes):
    """Bounding-box regression targets are stored in a compact form in the
    roidb.

    This function expands those targets into the 4-of-4*K representation used
    by the network (i.e. only one class has non-zero targets). The loss weights
    are similarly expanded.

    Returns:
        view_target_data (ndarray): N x 3K blob of regression targets
        view_loss_weights (ndarray): N x 3K blob of loss weights
    """
    view_targets = np.zeros((clss.size, 3 * num_classes), dtype=np.float32)
    view_loss_weights = np.zeros(view_targets.shape, dtype=np.float32)
    inds = np.where( (clss > 0) & np.isfinite(viewpoint_data[:,0]) & np.isfinite(viewpoint_data[:,1]) & np.isfinite(viewpoint_data[:,2]) )[0]
    for ind in inds:
        cls = clss[ind]
        start = 3 * cls
        end = start + 3
        view_targets[ind, start:end] = viewpoint_data[ind, :]
        view_loss_weights[ind, start:end] = [1., 1., 1.]

    assert not np.isinf(view_targets).any(), 'viewpoint undefined'
    return view_targets, view_loss_weights