preprocess all ground-truths

        Returns:
        ----------
        labels packed in [num_images x max_num_objects x 5] tensor

def _load_image_labels(self):
        """
        preprocess all ground-truths

        Returns:
        ----------
        labels packed in [num_images x max_num_objects x 5] tensor
        """
        temp = []

        # load ground-truth from xml annotations
        for idx in self.image_set_index:
            label_file = self._label_path_from_index(idx)
            tree = ET.parse(label_file)
            root = tree.getroot()
            size = root.find('size')
            width = float(size.find('width').text)
            height = float(size.find('height').text)
            label = []

            for obj in root.iter('object'):
                difficult = int(obj.find('difficult').text)
                # if not self.config['use_difficult'] and difficult == 1:
                #     continue
                cls_name = obj.find('name').text
                if cls_name not in self.classes:
                    continue
                cls_id = self.classes.index(cls_name)
                xml_box = obj.find('bndbox')
                xmin = float(xml_box.find('xmin').text) / width
                ymin = float(xml_box.find('ymin').text) / height
                xmax = float(xml_box.find('xmax').text) / width
                ymax = float(xml_box.find('ymax').text) / height
                label.append([cls_id, xmin, ymin, xmax, ymax, difficult])
            temp.append(np.array(label))
        return temp