database should save with np.float32

pcdet/datasets/waymo/waymo_dataset.py

@@ -225,7 +225,7 @@ class WaymoDataset(DatasetTemplate):
             points_pre = remove_ego_points(points_pre, 1.0)
             points_pre_all.append(points_pre)
             num_points_pre.append(points_pre.shape[0])
-        points = np.concatenate([points] + points_pre_all, axis=0)
+        points = np.concatenate([points] + points_pre_all, axis=0).astype(np.float32)
         num_points_all = np.array([num_pts_cur] + num_points_pre).astype(np.int)
         return points, num_points_all, sample_idx_pre_list
 
@@ -461,6 +461,8 @@ class WaymoDataset(DatasetTemplate):
                 gt_points[:, :3] -= gt_boxes[i, :3]
 
                 if (used_classes is None) or names[i] in used_classes:
+                    gt_points = gt_points.astype(np.float32)
+                    assert gt_points.dtype == np.float32
                     with open(filepath, 'w') as f:
                         gt_points.tofile(f)
 
@@ -491,7 +493,7 @@ class WaymoDataset(DatasetTemplate):
     def create_gt_database_of_single_scene(self, info_with_idx, database_save_path=None, use_sequence_data=False, used_classes=None, total_samples=0, use_cuda=False):
         info, info_idx = info_with_idx
         print('gt_database sample: %d/%d' % (info_idx, total_samples))
-        
+
         all_db_infos = {}
         pc_info = info['point_cloud']
         sequence_name = pc_info['lidar_sequence']
@@ -542,10 +544,12 @@ class WaymoDataset(DatasetTemplate):
                 gt_points = points[box_idxs_of_pts == i]
             else:
                 gt_points = points[box_point_mask[i] > 0]
-                
+
             gt_points[:, :3] -= gt_boxes[i, :3]
 
             if (used_classes is None) or names[i] in used_classes:
+                gt_points = gt_points.astype(np.float32)
+                assert gt_points.dtype == np.float32
                 with open(filepath, 'w') as f:
                     gt_points.tofile(f)
 
@@ -581,8 +585,8 @@ class WaymoDataset(DatasetTemplate):
 
         print(f'Number workers: {num_workers}')
         create_gt_database_of_single_scene = partial(
-            self.create_gt_database_of_single_scene, 
-            use_sequence_data=use_sequence_data, database_save_path=database_save_path, 
+            self.create_gt_database_of_single_scene,
+            use_sequence_data=use_sequence_data, database_save_path=database_save_path,
             used_classes=used_classes, total_samples=len(infos), use_cuda=False
         )
         # create_gt_database_of_single_scene((infos[0], 0))