corrected pairing in SSD head of pointpillars #602
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benjaminum
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Accordiing to the PointPillars paper, "A positive match is either the highest with a ground truth box, or above the positive match threshold". While the latter point is implemented correctly, there's a minor mistake in the implementation of the first point. The original code only updates the bool array pos_idx without changing the matched target to the correct ground truth index. This could lead to ground truth box without a valid match in the end.
When I corrected the SSD matching, I also referred to this implementation of SSD: https://github.com/amdegroot/ssd.pytorch/blob/5b0b77faa955c1917b0c710d770739ba8fbff9b7/layers/box_utils.py#L106
This change is