package second.protos

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Configuration message for the AdamOptimizer See: https://www.tensorflow.org/api_docs/python/tf/train/AdamOptimizer

Used in: Optimizer

• optional LearningRate learning_rate = 1

• float weight_decay = 2

• bool amsgrad = 3

Used in: Loss

• string loss_type = 1

• float weight = 2

• float init_alpha = 3

• bool not_learn_alpha = 4

• float focal_gamma = 5

• float penalize_ratio = 6

• repeated float sample_block_size = 7

• bool norm = 8

• float pred_downsample_ratio = 9

• float reg_weight = 10

• float sph_weight = 11

Used in: DatabasePreprocessingStep

• repeated int32 removed_difficulties = 1

Used in: DatabasePreprocessingStep

• map<string, uint32> min_num_point_pairs = 1

Used in: InputReader.Preprocess, Sampler

• oneof database_preprocessing_step

  • DBFilterByDifficulty filter_by_difficulty = 1

  • DBFilterByMinNumPointInGroundTruth filter_by_min_num_points = 2

Used in: TrainEvalPipelineConfig

• oneof model

  • VoxelNet second = 1

Configuration for intersection-over-union (IOU) similarity calculator.

Used in: RegionSimilarityCalculator

• float distance_norm = 1

• bool with_rotation = 2

• float rotation_alpha = 3

Used in: LearningRate

• float initial_learning_rate = 1

• float decay_length = 2

  must in range (0, 1)

• float decay_factor = 3

• bool staircase = 4

Used in: LearningRate

• float initial_learning_rate = 1

• float decay_length = 2

  must in range (0, 1)

• float decay_factor = 3

• bool staircase = 4

• float div_factor = 6

• float pct_start = 7

Used in: Sampler

• map<string, uint32> name_to_max_num = 1

Used in: TrainEvalPipelineConfig

• uint32 batch_size = 1

• optional InputReader.Dataset dataset = 2

• optional InputReader.Preprocess preprocess = 3

• uint32 max_num_epochs = 4

  deprecated

• uint32 prefetch_size = 5

  deprecated

• float review_cycle = 6

Used in: InputReader

• string kitti_info_path = 1

• string kitti_root_path = 2

• string dataset_class_name = 3

  support KittiDataset and NuScenesDataset

• int32 seq_length = 4

• int32 skip = 5

• bool random_skip = 6

• int32 step = 7

Used in: InputReader

• bool shuffle_points = 1

• uint32 max_number_of_voxels = 2

• repeated float groundtruth_localization_noise_std = 3

• repeated float groundtruth_rotation_uniform_noise = 4

• repeated float global_rotation_uniform_noise = 5

• repeated float global_scaling_uniform_noise = 6

• repeated float global_translate_noise_std = 7

• bool remove_unknown_examples = 8

• uint32 num_workers = 9

• float anchor_area_threshold = 10

• bool remove_points_after_sample = 11

• float groundtruth_points_drop_percentage = 12

• uint32 groundtruth_drop_max_keep_points = 13

• bool remove_environment = 14

• repeated float global_random_rotation_range_per_object = 15

• repeated DatabasePreprocessingStep database_prep_steps = 16

• optional Sampler database_sampler = 17

• bool use_group_id = 18

  this will enable group sample and noise

• int64 min_num_of_points_in_gt = 19

  gt boxes contains less than this will be ignored.

• bool random_flip_x = 20

• bool random_flip_y = 21

• float sample_importance = 22

• float rand_rotation_eps = 23

• float rand_translation_eps = 24

• float random_aug_ratio = 25

• float do_pre_transform = 26

• bool cubic_tq_map = 27

• repeated float downsample_voxel_sizes = 28

Used in: AdamOptimizer, MomentumOptimizer, RMSPropOptimizer

• oneof learning_rate

  • MultiPhase multi_phase = 1

  • OneCycle one_cycle = 2

  • ExponentialDecay exponential_decay = 3

  • ManualStepping manual_stepping = 4

  • ExponentialDecayWarmup exponential_decay_warmup = 5

Used in: MultiPhase

• float start = 1

• string lambda_func = 2

• string momentum_lambda_func = 3

Message for configuring the localization loss, classification loss and hard example miner used for training object detection models. See core/losses.py for details

Used in: VoxelNet

• optional RotaionLoss rotation_loss = 1

• optional TranslationLoss translation_loss = 2

• optional RotaionLoss pyramid_rotation_loss = 3

• optional TranslationLoss pyramid_translation_loss = 4

• optional ConsistencyLoss consistency_loss = 5

• float pyloss_exp_w_base = 6

• optional RigidTransformLoss rigid_transform_loss = 7

  float rotation_weight = 4;

Used in: LearningRate

• repeated float boundaries = 1

  must in range (0, 1)

• repeated float rates = 2

Configuration message for the MomentumOptimizer See: https://www.tensorflow.org/api_docs/python/tf/train/MomentumOptimizer

Used in: Optimizer

• optional LearningRate learning_rate = 1

• float momentum_optimizer_value = 2

• float weight_decay = 3

Used in: LearningRate

• repeated LearningRatePhase phases = 1

Configuration for intersection-over-union (IOU) similarity calculator.

Used in: RegionSimilarityCalculator

(message has no fields)

Used in: LearningRate

• float lr_max = 1

• repeated float moms = 2

• float div_factor = 3

• float pct_start = 4

• repeated float lr_maxs = 5

Top level optimizer message.

Used in: TrainConfig

• oneof optimizer

  • RMSPropOptimizer rms_prop_optimizer = 1

  • MomentumOptimizer momentum_optimizer = 2

  • AdamOptimizer adam_optimizer = 3

• bool use_moving_average = 4

• float moving_average_decay = 5

• bool fixed_weight_decay = 6

  i.e. AdamW

Configuration message for the RMSPropOptimizer See: https://www.tensorflow.org/api_docs/python/tf/train/RMSPropOptimizer

Used in: Optimizer

• optional LearningRate learning_rate = 1

• float momentum_optimizer_value = 2

• float decay = 3

• float epsilon = 4

• float weight_decay = 5

Configuration proto for region similarity calculators. See core/region_similarity_calculator.py for details.

• oneof region_similarity

  • RotateIouSimilarity rotate_iou_similarity = 1

  • NearestIouSimilarity nearest_iou_similarity = 2

  • DistanceSimilarity distance_similarity = 3

Used in: Loss

• float weight = 2

  string loss_type =1;

• float focal_gamma = 5

  float init_alpha= 3; bool not_learn_alpha=4;

oneof { WeightedL2LocalizationLoss weighted_l2 = 1; WeightedSmoothL1LocalizationLoss weighted_smooth_l1 = 2; WeightedGHMLocalizationLoss weighted_ghm = 3; }

Used in: Loss

• string loss_type = 1

• float weight = 2

• float init_alpha = 3

• bool not_learn_alpha = 4

• float focal_gamma = 5

• float balance_scale = 6

Configuration for intersection-over-union (IOU) similarity calculator.

Used in: RegionSimilarityCalculator

(message has no fields)

Used in: InputReader.Preprocess

• string database_info_path = 1

• repeated Group sample_groups = 2

• repeated DatabasePreprocessingStep database_prep_steps = 3

• repeated float global_random_rotation_range_per_object = 4

• float rate = 5

Used in: TrainEvalPipelineConfig

• optional Optimizer optimizer = 1

• uint32 steps = 2

• uint32 steps_per_eval = 3

• uint32 save_checkpoints_secs = 4

• uint32 save_summary_steps = 5

• bool enable_mixed_precision = 6

• float loss_scale_factor = 7

• bool clear_metrics_every_epoch = 8

Convenience message for configuring a training and eval pipeline. Allows all of the pipeline parameters to be configured from one file.

• optional DetectionModel model = 1

• optional InputReader train_input_reader = 2

• optional TrainConfig train_config = 3

• optional InputReader eval_input_reader = 4

• optional InputReader eval_train_input_reader = 5

Used in: Loss

• string loss_type = 1

• float weight = 2

• float init_alpha = 3

• bool not_learn_alpha = 4

• float focal_gamma = 5

• float balance_scale = 6

Used in: VoxelNet

• repeated float voxel_size = 1

• repeated float point_cloud_range = 2

• uint32 max_number_of_points_per_voxel = 3

• bool full_empty_part_with_mean = 4

• bool block_filtering = 5

• int64 block_factor = 6

• int64 block_size = 7

• float height_threshold = 8

Used in: DetectionModel

• string network_class_name = 1

• optional VoxelGenerator voxel_generator = 2

• optional VoxelNet.VoxelFeatureExtractor voxel_feature_extractor = 3

• optional VoxelNet.MiddleFeatureExtractor middle_feature_extractor = 4

• optional VoxelNet.OdomPredictor odom_predictor = 5

• uint32 num_point_features = 6

• bool use_sigmoid_score = 7

• optional Loss loss = 8

• bool encode_background_as_zeros = 10

  bool encode_rad_error_by_sin = 9;

• bool use_GN = 11

• repeated float post_center_limit_range = 18

• bool lidar_input = 24

  deprecated in future

• bool freeze_bn = 30

• bool freeze_bn_affine = 31

• int32 freeze_bn_start_step = 32

• uint32 icp_iter = 33

  bool sync_bn=33;

Used in: VoxelNet

• string module_class_name = 1

• repeated int32 num_filters_down1 = 2

• repeated int32 num_filters_down2 = 3

• int32 num_input_features = 4

• int32 downsample_factor = 5

• bool use_leakyReLU = 7

  bool not_use_norm = 6;

• string relu_type = 8

• string bn_type = 9

Used in: VoxelNet

• string module_class_name = 1

• int32 num_input_features = 2

• repeated int32 layer_nums = 3

• repeated int32 layer_strides = 4

• repeated int32 num_filters = 5

• repeated int32 upsample_strides = 6

• repeated int32 num_upsample_filters = 7

• int32 pool_size = 8

  int32 avgpool_size=8;

• string pool_type = 14

• bool cycle_constraint = 9

• string conv_type = 11

  bool not_use_norm = 10; bool use_sparse_conv = 11;

  ['official', 'sparse_conv', 'mask_conv']

• bool pred_pyramid_motion = 12

• string odom_format = 13

• bool dense_predict = 15

• bool use_corr = 16

• float dropout = 17

• string conf_type = 18

• bool use_SPGN = 19

• bool use_deep_supervision = 20

• bool not_use_loss_mask = 21

• bool use_dynamic_mask = 22

• bool use_leakyReLU = 23

• bool dropout_input = 24

• int32 first_conv_groups = 25

• bool odom_use_se = 26

• bool odom_use_sa = 27

• int32 cubic_pred_height = 28

• bool not_use_enc_norm = 29

• bool use_svd = 30

• string bn_type = 31

  bool freeze_bn=30; bool freeze_bn_affine=31;

Used in: VoxelNet

• string module_class_name = 1

• repeated int32 num_filters = 2

• bool with_distance = 3

• int32 num_input_features = 4

• bool not_use_norm = 5