Template:NVIDIA Transfer Learning Toolkit - Training a model

dataset_config {
    data_sources: {
	tfrecords_path: "/workspace/tlt-experiments/tfrecords/*"
	image_directory_path: "/workspace/tlt-experiments/"
    }
    image_extension: "png"
    target_class_mapping {
	key: "car"
	value: "car"
    }
    target_class_mapping {
	key: "automobile"
	value: "car"
    }
    target_class_mapping {
	key: "heavy_truck"
	value: "car"
    }
    target_class_mapping {
	key: "person"
	value: "pedestrian"
    }
    target_class_mapping {
	key: "rider"
	value: "cyclist"
    }
    validation_fold: 0
}

model_config {
    arch: "resnet"
    pretrained_model_file: "pre-trained-models/tlt_resnet18_detectnet_v2_v1/resnet18.hdf5"
    freeze_blocks: 0
    freeze_blocks: 1
    all_projections: True
    num_layers: 18
    use_pooling: False
    use_batch_norm: True
    dropout_rate: 0.1
    training_precision: {
	backend_floatx: FLOAT32
    }
    objective_set: {
	cov {}
	bbox {
	    scale: 35.0
	    offset: 0.5
	}
    }
    training_precision {
	backend_floatx: FLOAT32
    }
}

evaluation_config {
    average_precision_mode: INTEGRATE
    validation_period_during_training: 10
    first_validation_epoch: 1
    minimum_detection_ground_truth_overlap {
	key: "car"
	value: 0.7
    }
    minimum_detection_ground_truth_overlap {
	key: "pedestrian"
	value: 0.5
    }
    minimum_detection_ground_truth_overlap {
	key: "cyclist"
	value: 0.5
    }
    evaluation_box_config {
	key: "car"
	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: "cyclist"
	value {
	    minimum_height: 4
	    maximum_height: 9999
	    minimum_width: 4
	    maximum_width: 9999
	}
    }
}

bbox_rasterizer_config {
    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: "cyclist"
	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
	}
    }
    deadzone_radius: 0.67
}


postprocessing_config {
    target_class_config {
	key: "car"
	value: {
	    clustering_config {
		coverage_threshold: 0.005
		dbscan_eps: 0.15
		dbscan_min_samples: 0.05
		minimum_bounding_box_height: 20
	    }
	}
    }
    target_class_config {
	key: "cyclist"
	value: {
	    clustering_config {
		coverage_threshold: 0.005
		dbscan_eps: 0.15
		dbscan_min_samples: 0.05
		minimum_bounding_box_height: 20
	    }
	}
    }
    target_class_config {
	key: "pedestrian"
	value: {
	    clustering_config {
		coverage_threshold: 0.005
		dbscan_eps: 0.15
		dbscan_min_samples: 0.05
		minimum_bounding_box_height: 20
	    }
	}
    }
}


cost_function_config {
    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: "cyclist"
	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: 1.0
	}
    }
    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
	}
    }
    enable_autoweighting: True
    max_objective_weight: 0.9999
    min_objective_weight: 0.0001
}


training_config {
    batch_size_per_gpu: 4
    num_epochs: 240
    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: 1
}

# Sample augementation config for 
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
    }
}


# Sample evaluation config to run evaluation in integrate mode for the given 3 class model, 
# at every 10th epoch starting from the epoch 1.
evaluation_config {
    average_precision_mode: INTEGRATE
    validation_period_during_training: 10
    first_validation_epoch: 1
    minimum_detection_ground_truth_overlap {
	key: "car"
	value: 0.7
    }
    minimum_detection_ground_truth_overlap {
	key: "pedestrian"
	value: 0.5
    }
    minimum_detection_ground_truth_overlap {
	key: "cyclist"
	value: 0.5
    }
    evaluation_box_config {
	key: "car"
	value {
	    minimum_height: 10
	    maximum_height: 9999
	    minimum_width: 10
	    maximum_width: 9999
	}
    }
    evaluation_box_config {
	key: "pedestrian"
	value {
	    minimum_height: 10
	    maximum_height: 9999
	    minimum_width: 10
	    maximum_width: 9999
	}
    }
    evaluation_box_config {
	key: "cyclist"
	value {
	    minimum_height: 10
	    maximum_height: 9999
	    minimum_width: 10
	    maximum_width: 9999
	}
    }
}