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)
 
@@ -546,6 +548,8 @@ 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)