model_config {
  #pretrained_model_file: "/workspace/tlt-experiments/truck_model/tlt_resnet18_detection_v2/resnet_18.hdf5"
  pretrained_model_file: "/home/azure_devops/nvidia/tlt-experiments/badge_model/train_fsd3/newmodel/model.tlt"
  num_layers: 18
  use_batch_norm: true
  load_graph: true
  activation {
    activation_type: "relu"
  }
  dropout_rate: 0.0
  objective_set {
    bbox {
      scale: 35.0
      offset: 0.5
    }
    cov {
    }
  }
  training_precision {
    backend_floatx: FLOAT32
  }
  arch: "resnet"
}
bbox_rasterizer_config {
  target_class_config {
    key: "badge"
    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
}

postprocessing_config {
  target_class_config {
    key: "badge"
    value {
      clustering_config {
        coverage_threshold: 0.005
        dbscan_eps: 0.15
        dbscan_min_samples: 0.05
        dbscan_confidence_threshold: 0.5
        minimum_bounding_box_height: 8
      }
    }
  }
}
cost_function_config {
  target_classes {
    name: "badge"
    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: 16
  num_epochs: 200
  learning_rate {
    soft_start_annealing_schedule {
      min_learning_rate: 5e-7
      max_learning_rate: 5e-4
      soft_start: 0.1
      annealing: 0.7
    }
  }
  regularizer {
    type: NO_REG
    weight: 3e-9
  }
  visualizer{
  enabled: true
  clearml_config{
      project: "badge_Model_av2"
      tags: "run_training"
      tags: "tao_toolkit_detectnet_v2"
    }
  }
  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: 5
  visualizer {
    enabled: true
    num_images: 3
    scalar_logging_frequency: 10
    infrequent_logging_frequency: 1
    target_class_config {
      key: 'badge'
      value: {
        coverage_threshold: 0.005
      }    
    }
    target_class_config {
      key: "badge"
      value: {
        coverage_threshold: 0.005
      }
    }
  }  
}

augmentation_config {
  preprocessing {
    output_image_width: 1280
    output_image_height: 1280
    min_bbox_width: 20
    min_bbox_height: 4
    output_image_channel: 3
    #crop_right: 1280
    #crop_left: 1
    #crop_top: 1
    #crop_bottom: 1280
    #scale_height: 2.0
    #scale_width: 2.0
  }
  spatial_augmentation {
    hflip_probability: 0.0
    vflip_probability: 0.0
    zoom_min: 1.0
    zoom_max: 2.0
    translate_max_x: 8.0
    translate_max_y: 8.0
    rotate_rad_max: 0.69
  }
  color_augmentation {
    color_shift_stddev: 0.1
    hue_rotation_max: 25.0
    saturation_shift_max: 0.2
    contrast_scale_max: 0.1
    contrast_center: 0.5
  }
}

evaluation_config {
  validation_period_during_training: 5
  first_validation_epoch: 5
  minimum_detection_ground_truth_overlap {
    key: "badge"
    value: 0.3
  }
 
  evaluation_box_config {
    key: "badge"
    value {
      minimum_height: 4
      maximum_height: 9999
      minimum_width: 20
      maximum_width: 9999
    }
  }
 
  average_precision_mode: INTEGRATE
}

dataset_config {
  data_sources {
    tfrecords_path: "/home/azure_devops/nvidia/tlt-experiments/badge_model/train_fsd3/tfrecords/*"
    image_directory_path: "/nfsdata/badge/kitti"
  }
  image_extension: "png"
  target_class_mapping {
    key: "badge"
    value: "badge"
  }
  validation_fold: 0
}