random_seed: 42
dataset_config {
  data_sources {
    tfrecords_path: "/workspace/tlt-experiments/data/tfrecords/kitti_trainval/*"
    image_directory_path: "/workspace/tlt-experiments/data/training"
  }
  image_extension: "jpg"
  target_class_mapping {
    key: "TARGET"
    value: "TARGET"
  }
  validation_fold: 0
}
augmentation_config {
  preprocessing {
    output_image_width: 1280
    output_image_height: 720
    min_bbox_width: 1.0
    min_bbox_height: 1.0
    output_image_channel: 3
  }
  spatial_augmentation {
    hflip_probability: 0.5
    zoom_min: 1.0
    zoom_max: 1.0
    translate_max_x: 8.0
    translate_max_y: 8.0
  }
  color_augmentation {
    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: "TARGET"
    value {
      clustering_config {
        coverage_threshold: 0.005
        dbscan_eps: 0.15
        dbscan_min_samples: 0.05
        minimum_bounding_box_height: 10
      }
    }
  }
}
model_config {
  pretrained_model_file: "/workspace/tlt-experiments/detectnet_v2/pretrained_resnet18/tlt_pretrained_detectnet_v2_vresnet18/resnet18.hdf5"
  num_layers: 18
  all_projections: True
  use_batch_norm: true
  freeze_blocks: 0
  freeze_blocks: 1
  objective_set {
    bbox {
      scale: 35.0
      offset: 0.5
    }
    cov {
    }
  }
  training_precision {
    backend_floatx: FLOAT32
  }
  arch: "resnet"
}
evaluation_config {
  validation_period_during_training: 10
  first_validation_epoch: 10
  minimum_detection_ground_truth_overlap {
    key: "TARGET"
    value: 0.5
  }
  evaluation_box_config {
    key: "TARGET"
    value {
      minimum_height: 4
      maximum_height: 9999
      minimum_width: 4
      maximum_width: 9999
    }
  }
  average_precision_mode: INTEGRATE
}
cost_function_config {
  target_classes {
    name: "TARGET"
    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: 1
  num_epochs: 200
  learning_rate {
    soft_start_annealing_schedule {
      min_learning_rate: 5e-5
      max_learning_rate: 5e-4
      soft_start: 0.1
      annealing: 0.7
    }
  }
  regularizer {
    type: L1
    weight: 3e-09
  }
  optimizer {
    adam {
      epsilon: 1e-8
      beta1: 0.9
      beta2: 0.999
    }
  }
  cost_scaling {
    enabled: False
    initial_exponent: 20.0
    increment: 0.005
    decrement: 1.0
  }
  checkpoint_interval: 10
}
bbox_rasterizer_config {
  target_class_config {
    key: "TARGET"
    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
}