def _build_localization_loss(loss_config):
"""Builds a localization loss based on the loss config.
Args:
loss_config: A losses_pb2.LocalizationLoss object.
Returns:
Loss based on the config.
Raises:
ValueError: On invalid loss_config.
"""
if not isinstance(loss_config, losses_pb2.LocalizationLoss):
raise ValueError(
'loss_config not of type losses_pb2.LocalizationLoss.')
loss_type = loss_config.WhichOneof('localization_loss')
if loss_type == 'weighted_l2':
config = loss_config.weighted_l2
if len(config.code_weight) == 0:
code_weight = None
else:
code_weight = config.code_weight
return losses.WeightedL2LocalizationLoss(code_weight)
if loss_type == 'weighted_smooth_l1_with_uncertainty':
config = loss_config.weighted_smooth_l1_with_uncertainty
if len(config.code_weight) == 0:
code_weight = None
else:
code_weight = config.code_weight
return losses.WeightedSmoothL1LocalizationLossWithUncertainty(
config.sigma, code_weight)
if loss_type == 'weighted_smooth_l1_and_von_mises_with_uncertainty':
config = loss_config.weighted_smooth_l1_and_von_mises_with_uncertainty
if len(config.code_weight) == 0:
code_weight = None
else:
code_weight = config.code_weight
return losses.WeightedSmoothL1LocalizationAndVonMisesLossWithUncertainty(
config.sigma, code_weight)
if loss_type == 'weighted_smooth_l1':
config = loss_config.weighted_smooth_l1
if len(config.code_weight) == 0:
code_weight = None
else:
code_weight = config.code_weight
return losses.WeightedSmoothL1LocalizationLoss(config.sigma,
code_weight)
if loss_type == 'weighted_ghm':
config = loss_config.weighted_ghm
if len(config.code_weight) == 0:
code_weight = None
else:
code_weight = config.code_weight
return GHMRLoss(config.mu, config.bins, config.momentum, code_weight)
raise ValueError('Empty loss config.')
def _build_localization_loss(loss_config, KL=False):
"""Builds a localization loss based on the loss config.
Args:
loss_config: A losses_pb2.LocalizationLoss object.
Returns:
Loss based on the config.
Raises:
ValueError: On invalid loss_config.
"""
if not isinstance(loss_config, losses_pb2.LocalizationLoss):
raise ValueError(
'loss_config not of type losses_pb2.LocalizationLoss.')
loss_type = loss_config.WhichOneof('localization_loss')
if loss_type == 'weighted_l2':
config = loss_config.weighted_l2
if len(config.code_weight) == 0:
code_weight = None
else:
code_weight = config.code_weight
return losses.WeightedL2LocalizationLoss(code_weight)
if loss_type == 'weighted_smooth_l1':
config = loss_config.weighted_smooth_l1
if len(config.code_weight) == 0:
code_weight = None
else:
code_weight = config.code_weight
print("build_kl", KL)
if KL:
return losses.WeightedSmoothL1LocalizationLoss_KL(
config.sigma, code_weight)
else:
return losses.WeightedSmoothL1LocalizationLoss(
config.sigma, code_weight)
if loss_type == 'weighted_smooth_l1_KL':
config = loss_config.weighted_smooth_l1
if len(config.code_weight) == 0:
code_weight = None
else:
code_weight = config.code_weight
return losses.WeightedSmoothL1LocalizationLoss_KL(
config.sigma, code_weight)
if loss_type == 'weighted_ghm':
config = loss_config.weighted_ghm
if len(config.code_weight) == 0:
code_weight = None
else:
code_weight = config.code_weight
return GHMRLoss(config.mu, config.bins, config.momentum, code_weight)
raise ValueError('Empty loss config.')