random_seed: 42 model_config { pretrained_model_file: "/workspace/pretrained_model/tlt_resnet18_detectnet_v2_v1/resnet18.hdf5" num_layers: 18 freeze_blocks: 0 arch: "resnet" use_batch_norm: true activation { activation_type: "relu" } dropout_rate: 0.1 objective_set: { cov {} bbox { scale: 35.0 offset: 0.5 } } training_precision { backend_floatx: FLOAT32 } } bbox_rasterizer_config { target_class_config { key: "bicycle" value: { cov_center_x: 0.5 cov_center_y: 0.5 cov_radius_x: 0.4 cov_radius_y: 0.4 bbox_min_radius: 1.0 } } target_class_config { key: "bus" value: { cov_center_x: 0.5 cov_center_y: 0.5 cov_radius_x: 0.4 cov_radius_y: 0.4 bbox_min_radius: 1.0 } } target_class_config { key: "car" value: { cov_center_x: 0.5 cov_center_y: 0.5 cov_radius_x: 0.4 cov_radius_y: 0.4 bbox_min_radius: 1.0 } } target_class_config { key: "motorbike" value: { cov_center_x: 0.5 cov_center_y: 0.5 cov_radius_x: 0.4 cov_radius_y: 0.4 bbox_min_radius: 1.0 } } target_class_config { key: "pedestrian" value: { cov_center_x: 0.5 cov_center_y: 0.5 cov_radius_x: 0.4 cov_radius_y: 0.4 bbox_min_radius: 1.0 } } target_class_config { key: "truck" value: { cov_center_x: 0.5 cov_center_y: 0.5 cov_radius_x: 0.4 cov_radius_y: 0.4 bbox_min_radius: 1.0 } } target_class_config { key: "ute" value: { cov_center_x: 0.5 cov_center_y: 0.5 cov_radius_x: 0.4 cov_radius_y: 0.4 bbox_min_radius: 1.0 } } target_class_config { key: "van" value: { cov_center_x: 0.5 cov_center_y: 0.5 cov_radius_x: 0.4 cov_radius_y: 0.4 bbox_min_radius: 1.0 } } deadzone_radius: 0.67 } cost_function_config { target_classes { name: "bicycle" class_weight: 1.0 coverage_foreground_weight: 0.05 objectives { name: "cov" initial_weight: 1.0 weight_target: 1.0 } objectives { name: "bbox" initial_weight: 10.0 weight_target: 10.0 } } target_classes { name: "bus" class_weight: 1.0 coverage_foreground_weight: 0.05 objectives { name: "cov" initial_weight: 1.0 weight_target: 1.0 } objectives { name: "bbox" initial_weight: 10.0 weight_target: 10.0 } } target_classes { name: "car" class_weight: 1.0 coverage_foreground_weight: 0.05 objectives { name: "cov" initial_weight: 1.0 weight_target: 1.0 } objectives { name: "bbox" initial_weight: 10.0 weight_target: 10.0 } } target_classes { name: "motorbike" class_weight: 1.0 coverage_foreground_weight: 0.05 objectives { name: "cov" initial_weight: 1.0 weight_target: 1.0 } objectives { name: "bbox" initial_weight: 10.0 weight_target: 10.0 } } target_classes { name: "pedestrian" class_weight: 1.0 coverage_foreground_weight: 0.05 objectives { name: "cov" initial_weight: 1.0 weight_target: 1.0 } objectives { name: "bbox" initial_weight: 10.0 weight_target: 10.0 } } target_classes { name: "truck" class_weight: 1.0 coverage_foreground_weight: 0.05 objectives { name: "cov" initial_weight: 1.0 weight_target: 1.0 } objectives { name: "bbox" initial_weight: 10.0 weight_target: 10.0 } } target_classes { name: "ute" class_weight: 1.0 coverage_foreground_weight: 0.05 objectives { name: "cov" initial_weight: 1.0 weight_target: 1.0 } objectives { name: "bbox" initial_weight: 10.0 weight_target: 10.0 } } target_classes { name: "van" class_weight: 1.0 coverage_foreground_weight: 0.05 objectives { name: "cov" initial_weight: 1.0 weight_target: 1.0 } objectives { name: "bbox" initial_weight: 10.0 weight_target: 10.0 } } enable_autoweighting: True max_objective_weight: 0.9999 min_objective_weight: 0.0001 } training_config { batch_size_per_gpu: 8 num_epochs: 120 learning_rate { soft_start_annealing_schedule { min_learning_rate: 5e-6 max_learning_rate: 5e-4 soft_start: 0.1 annealing: 0.7 } } regularizer { type: L1 weight: 3e-9 } optimizer { adam { epsilon: 1e-08 beta1: 0.9 beta2: 0.999 } } cost_scaling { enabled: False initial_exponent: 20.0 increment: 0.005 decrement: 1.0 } checkpoint_interval: 10 } augmentation_config { preprocessing { output_image_width: 960 output_image_height: 544 output_image_channel: 3 min_bbox_width: 1.0 min_bbox_height: 1.0 } spatial_augmentation { hflip_probability: 0.5 vflip_probability: 0.0 zoom_min: 1.0 zoom_max: 1.0 translate_max_x: 8.0 translate_max_y: 8.0 } color_augmentation { color_shift_stddev: 0.0 hue_rotation_max: 25.0 saturation_shift_max: 0.2 contrast_scale_max: 0.1 contrast_center: 0.5 } } postprocessing_config { target_class_config { key: "bicycle" value: { clustering_config { coverage_threshold: 0.005 dbscan_eps: 0.13 dbscan_min_samples: 0.05 minimum_bounding_box_height: 1 } } } target_class_config { key: "bus" value: { clustering_config { coverage_threshold: 0.005 dbscan_eps: 0.13 dbscan_min_samples: 0.05 minimum_bounding_box_height: 1 } } } target_class_config { key: "car" value: { clustering_config { coverage_threshold: 0.005 dbscan_eps: 0.13 dbscan_min_samples: 0.05 minimum_bounding_box_height: 1 } } } target_class_config { key: "motorbike" value: { clustering_config { coverage_threshold: 0.005 dbscan_eps: 0.13 dbscan_min_samples: 0.05 minimum_bounding_box_height: 1 } } } target_class_config { key: "pedestrian" value: { clustering_config { coverage_threshold: 0.005 dbscan_eps: 0.13 dbscan_min_samples: 0.05 minimum_bounding_box_height: 1 } } } target_class_config { key: "truck" value: { clustering_config { coverage_threshold: 0.005 dbscan_eps: 0.13 dbscan_min_samples: 0.05 minimum_bounding_box_height: 1 } } } target_class_config { key: "ute" value: { clustering_config { coverage_threshold: 0.005 dbscan_eps: 0.13 dbscan_min_samples: 0.05 minimum_bounding_box_height: 1 } } } target_class_config { key: "van" value: { clustering_config { coverage_threshold: 0.005 dbscan_eps: 0.13 dbscan_min_samples: 0.05 minimum_bounding_box_height: 1 } } } } dataset_config { data_sources: { tfrecords_path: "/workspace/output/tfrecords/training/*" image_directory_path: "/workspace/raw_data/training" } image_extension: "jpg" target_class_mapping { key: "bicycle" value: "bicycle" } target_class_mapping { key: "bus" value: "bus" } target_class_mapping { key: "car" value: "car" } target_class_mapping { key: "motorbike" value: "motorbike" } target_class_mapping { key: "pedestrian" value: "pedestrian" } target_class_mapping { key: "truck" value: "truck" } target_class_mapping { key: "ute" value: "ute" } target_class_mapping { key: "van" value: "van" } validation_data_source: { tfrecords_path: "/workspace/output/tfrecords/validation/*" image_directory_path: "/workspace/raw_data/validation" } } evaluation_config { validation_period_during_training: 10 first_validation_epoch: 1 minimum_detection_ground_truth_overlap { key: "bicycle" value: 0.5 } minimum_detection_ground_truth_overlap { key: "bus" value: 0.5 } minimum_detection_ground_truth_overlap { key: "car" value: 0.5 } minimum_detection_ground_truth_overlap { key: "motorbike" value: 0.5 } minimum_detection_ground_truth_overlap { key: "pedestrian" value: 0.5 } minimum_detection_ground_truth_overlap { key: "truck" value: 0.5 } minimum_detection_ground_truth_overlap { key: "ute" value: 0.5 } minimum_detection_ground_truth_overlap { key: "van" value: 0.5 } evaluation_box_config { key: "bicycle" value { minimum_height: 4 maximum_height: 9999 minimum_width: 4 maximum_width: 9999 } } evaluation_box_config { key: "bus" value { minimum_height: 4 maximum_height: 9999 minimum_width: 4 maximum_width: 9999 } } evaluation_box_config { key: "car" value { minimum_height: 4 maximum_height: 9999 minimum_width: 4 maximum_width: 9999 } } evaluation_box_config { key: "motorbike" value { minimum_height: 4 maximum_height: 9999 minimum_width: 4 maximum_width: 9999 } } evaluation_box_config { key: "pedestrian" value { minimum_height: 4 maximum_height: 9999 minimum_width: 4 maximum_width: 9999 } } evaluation_box_config { key: "truck" value { minimum_height: 4 maximum_height: 9999 minimum_width: 4 maximum_width: 9999 } } evaluation_box_config { key: "ute" value { minimum_height: 4 maximum_height: 9999 minimum_width: 4 maximum_width: 9999 } } evaluation_box_config { key: "van" value { minimum_height: 4 maximum_height: 9999 minimum_width: 4 maximum_width: 9999 } } }