random_seed: 42
enc_key: 'tlt'
verbose: True
network_config {
  input_image_config {
    image_type: RGB
    image_channel_order: 'bgr'
    size_height_width {
      height: 512
      width: 512
    }
    image_channel_mean {
      key: 'b'
      value: 103.939
    }
    image_channel_mean {
      key: 'g'
      value: 116.779
    }
    image_channel_mean {
      key: 'r'
      value: 123.68
    }
    image_scaling_factor: 1.0
    max_objects_num_per_image: 100
  }
  feature_extractor: "resnet:18"
  anchor_box_config {
    scale: 64.0
    scale: 128.0
    scale: 256.0
    ratio: 1.0
    ratio: 0.5
    ratio: 2.0
  }
  freeze_bn: True
  freeze_blocks: 0
  freeze_blocks: 1
  roi_mini_batch: 256
  rpn_stride: 16
  conv_bn_share_bias: False
  roi_pooling_config {
    pool_size: 7
    pool_size_2x: False
  }
  all_projections: True
  use_pooling:False
}
training_config {
  kitti_data_config {
    data_sources: {
      tfrecords_path: "/data/tfrecords/*"
      image_directory_path: "/data/"
    }
    image_extension: 'jpeg'
    target_class_mapping {
      key: 'bird'
      value: 'bird'
    }
    validation_fold: 0
  }
  data_augmentation {
    preprocessing {
      output_image_width: 512
      output_image_height: 512
      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: 0
      translate_max_y: 0
    }
    color_augmentation {
      hue_rotation_max: 0.0
      saturation_shift_max: 0.0
      contrast_scale_max: 0.0
      contrast_center: 0.5
    }
  }
  enable_augmentation: True
  batch_size_per_gpu: 16
  num_epochs: 12
  #pretrained_weights: "/data/tlt_resnet18_faster_rcnn_v1/resnet18.h5"
  #resume_from_model: "/workspace/tlt-experiments/data/faster_rcnn/resnet18.epoch2.tlt"
  retrain_pruned_model: "/data/rcnn_trained/resnet18_rcnn_pruned.tlt"
  output_model: "/data/rcnn_trained/pruned_trained_frcnn_resnet18.tlt"
  rpn_min_overlap: 0.3
  rpn_max_overlap: 0.7
  classifier_min_overlap: 0.0
  classifier_max_overlap: 0.5
  gt_as_roi: False
  std_scaling: 1.0
  classifier_regr_std {
    key: 'x'
    value: 10.0
  }
  classifier_regr_std {
    key: 'y'
    value: 10.0
  }
  classifier_regr_std {
    key: 'w'
    value: 5.0
  }
  classifier_regr_std {
    key: 'h'
    value: 5.0
  }
  rpn_mini_batch: 256
  rpn_pre_nms_top_N: 12000
  rpn_nms_max_boxes: 2000
  rpn_nms_overlap_threshold: 0.7
  reg_config {
    type: L1
    weight: 3e-5
  }
  optimizer {
    adam {
      lr: 0.00001
      beta_1: 0.9
      beta_2: 0.999
      decay: 0.0
    }
  }
  lr_scheduler {
    step {
      base_lr: 0.00016
      gamma: 1.0
      step_size: 30
    }
  }
  lambda_rpn_regr: 1.0
  lambda_rpn_class: 1.0
  lambda_cls_regr: 1.0
  lambda_cls_class: 1.0
  inference_config {
    images_dir: '/data/images/'
    model: '/data/rcnn_trained/frcnn_kitti_resnet18.epoch12.tlt'
    detection_image_output_dir: 'data/rcnn_trained/inference_results_imgs'
    labels_dump_dir: '/data/rcnn_trained/inference_dump_labels'
    rpn_pre_nms_top_N: 6000
    rpn_nms_max_boxes: 300
    rpn_nms_overlap_threshold: 0.7
    bbox_visualize_threshold: 0.6
    classifier_nms_max_boxes: 300
    classifier_nms_overlap_threshold: 0.3
  }
  evaluation_config {
    model: '/data/rcnn_trained/frcnn_kitti_resnet18.epoch12.tlt'
    labels_dump_dir: '/data/rcnn_trained/test_dump_labels'
    rpn_pre_nms_top_N: 6000
    rpn_nms_max_boxes: 300
    rpn_nms_overlap_threshold: 0.7
    classifier_nms_max_boxes: 300
    classifier_nms_overlap_threshold: 0.3
    object_confidence_thres: 0.0001
    use_voc07_11point_metric:False
  }
}