def forward(self, ploc, plabel, gloc, glabel):
        """
            ploc, plabel: Nx4x8732, Nxlabel_numx8732
                predicted location and labels

            gloc, glabel: Nx4x8732, Nx8732
                ground truth location and labels
        """

        mask = glabel > 0
        pos_num = mask.sum(dim=1)

        vec_gd = self._loc_vec(gloc)

        # sum on four coordinates, and mask
        sl1 = self.sl1_loss(ploc, vec_gd).sum(dim=1)
        sl1 = (mask.float()*sl1).sum(dim=1)

        # hard negative mining
        con = self.con_loss(plabel, glabel)

        # postive mask will never selected
        con_neg = con.clone()
        con_neg[mask] = 0
        _, con_idx = con_neg.sort(dim=1, descending=True)
        _, con_rank = con_idx.sort(dim=1)

        # number of negative three times positive
        neg_num = torch.clamp(3*pos_num, max=mask.size(1)).unsqueeze(-1)
        neg_mask = con_rank < neg_num

        closs = (con*(mask.float() + neg_mask.float())).sum(dim=1)

        # avoid no object detected
        total_loss = sl1 + closs
        num_mask = (pos_num > 0).float()
        pos_num = pos_num.float().clamp(min=1e-6)

        ret = (total_loss*num_mask/pos_num).mean(dim=0)
        return ret