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corrected pairing in SSD head of pointpillars #602

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merged 2 commits into from
Oct 9, 2023
Merged

corrected pairing in SSD head of pointpillars #602

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corrected pairing in SSD head of pointpillars
zhongyidu Jun 17, 2023
478b819
Merge branch 'dev' into dev
benjaminum Oct 7, 2023
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3 changes: 2 additions & 1 deletion ml3d/torch/models/point_pillars.py
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Original file line number Diff line number Diff line change
Expand Up @@ -907,7 +907,7 @@ def flatten_idx(idx, j):
# for each anchor the gt with max IoU
max_overlaps, argmax_overlaps = overlaps.max(dim=0)
# for each gt the anchor with max IoU
gt_max_overlaps, _ = overlaps.max(dim=1)
gt_max_overlaps, gt_argmax_overlaps = overlaps.max(dim=1)

pos_idx = max_overlaps >= pos_th
neg_idx = (max_overlaps >= 0) & (max_overlaps < neg_th)
Expand All @@ -916,6 +916,7 @@ def flatten_idx(idx, j):
for k in range(len(target_bboxes[i])):
if gt_max_overlaps[k] >= neg_th:
pos_idx[overlaps[k, :] == gt_max_overlaps[k]] = True
argmax_overlaps[gt_argmax_overlaps[k]] = k

# encode bbox for positive matches
assigned_bboxes.append(
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