pkl文件

[1yuechu1]

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Checklist

1. I have searched related issues but cannot get the expected help.
2. The bug has not been fixed in the latest version.

Describe the bug
当我按照示例代码生成pkl文件的时候，当运行到一定的iteration的时候，会出现opencv 报错，打印出来两者的格式发现都是numpy的形式

Environment

1. Please run python mmdet3d/utils/collect_env.py to collect necessary environment information and paste it here.
2. You may add addition that may be helpful for locating the problem, such as
   • How you installed PyTorch [e.g., pip, conda, source]
   • Other environment variables that may be related (such as $PATH, $LD_LIBRARY_PATH, $PYTHONPATH, etc.)

sys.platform: linux
Python: 3.8.20 (default, Oct  3 2024, 15:24:27) [GCC 11.2.0]
CUDA available: True
GPU 0: NVIDIA A800 80GB PCIe
CUDA_HOME: /usr/local/cuda
NVCC: Cuda compilation tools, release 11.6, V11.6.55
GCC: gcc (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0
PyTorch: 1.10.0+cu113
PyTorch compiling details: PyTorch built with:
  - GCC 7.3
  - C++ Version: 201402
  - Intel(R) Math Kernel Library Version 2020.0.0 Product Build 20191122 for Intel(R) 64 architecture applications
  - Intel(R) MKL-DNN v2.2.3 (Git Hash 7336ca9f055cf1bfa13efb658fe15dc9b41f0740)
  - OpenMP 201511 (a.k.a. OpenMP 4.5)
  - LAPACK is enabled (usually provided by MKL)
  - NNPACK is enabled
  - CPU capability usage: AVX512
  - CUDA Runtime 11.3
  - NVCC architecture flags: -gencode;arch=compute_37,code=sm_37;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_70,code=sm_70;-gencode;arch=compute_75,code=sm_75;-gencode;arch=compute_80,code=sm_80;-gencode;arch=compute_86,code=sm_86
  - CuDNN 8.2
  - Magma 2.5.2
  - Build settings: BLAS_INFO=mkl, BUILD_TYPE=Release, CUDA_VERSION=11.3, CUDNN_VERSION=8.2.0, CXX_COMPILER=/opt/rh/devtoolset-7/root/usr/bin/c++, CXX_FLAGS= -Wno-deprecated -fvisibility-inlines-hidden -DUSE_PTHREADPOOL -fopenmp -DNDEBUG -DUSE_KINETO -DUSE_FBGEMM -DUSE_QNNPACK -DUSE_PYTORCH_QNNPACK -DUSE_XNNPACK -DSYMBOLICATE_MOBILE_DEBUG_HANDLE -DEDGE_PROFILER_USE_KINETO -O2 -fPIC -Wno-narrowing -Wall -Wextra -Werror=return-type -Wno-missing-field-initializers -Wno-type-limits -Wno-array-bounds -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-result -Wno-unused-local-typedefs -Wno-strict-overflow -Wno-strict-aliasing -Wno-error=deprecated-declarations -Wno-stringop-overflow -Wno-psabi -Wno-error=pedantic -Wno-error=redundant-decls -Wno-error=old-style-cast -fdiagnostics-color=always -faligned-new -Wno-unused-but-set-variable -Wno-maybe-uninitialized -fno-math-errno -fno-trapping-math -Werror=format -Wno-stringop-overflow, LAPACK_INFO=mkl, PERF_WITH_AVX=1, PERF_WITH_AVX2=1, PERF_WITH_AVX512=1, TORCH_VERSION=1.10.0, USE_CUDA=ON, USE_CUDNN=ON, USE_EXCEPTION_PTR=1, USE_GFLAGS=OFF, USE_GLOG=OFF, USE_MKL=ON, USE_MKLDNN=ON, USE_MPI=OFF, USE_NCCL=ON, USE_NNPACK=ON, USE_OPENMP=ON,

TorchVision: 0.11.0+cu113
OpenCV: 4.10.0
MMCV: 1.5.3
MMCV Compiler: GCC 7.3
MMCV CUDA Compiler: 11.3
MMDetection: 2.25.1
MMSegmentation: 0.25.0
MMDetection3D: 1.0.0rc4+26144be
spconv2.0: True

Error traceback
If applicable, paste the error trackback here.

2024-10-22 15:36:34,297 - mmdet - INFO - Epoch [1][2750/3517]   lr: 2.000e-04, eta: 14:59:39, time: 0.645, data_time: 0.020, memory: 7922, task0.loss_xy: 0.1238, task0.loss_z: 0.1062, task0.loss_whl: 0.2299, task0.loss_yaw: 0.3007, task0.loss_vel: 0.0611, task0.loss_heatmap: 2.2082, loss: 3.0299, grad_norm: 3.6961
Traceback (most recent call last):
  File "tools/train.py", line 277, in <module>
    main()
  File "tools/train.py", line 266, in main
    train_model(
  File "/mnt/home/Code/BEV/BEVDet/mmdet3d/apis/train.py", line 344, in train_model
    train_detector(
  File "/mnt/home/Code/BEV/BEVDet/mmdet3d/apis/train.py", line 319, in train_detector
    runner.run(data_loaders, cfg.workflow)
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/mmcv/runner/epoch_based_runner.py", line 130, in run
    epoch_runner(data_loaders[i], **kwargs)
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/mmcv/runner/epoch_based_runner.py", line 47, in train
    for i, data_batch in enumerate(self.data_loader):
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 521, in __next__
    data = self._next_data()
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 1203, in _next_data
    return self._process_data(data)
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/torch/utils/data/dataloader.py", line 1229, in _process_data
    data.reraise()
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/torch/_utils.py", line 434, in reraise
    raise exception
cv2.error: Caught error in DataLoader worker process 0.
Original Traceback (most recent call last):
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/torch/utils/data/_utils/worker.py", line 287, in _worker_loop
    data = fetcher.fetch(index)
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/torch/utils/data/_utils/fetch.py", line 49, in fetch
    data = [self.dataset[idx] for idx in possibly_batched_index]
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/torch/utils/data/_utils/fetch.py", line 49, in <listcomp>
    data = [self.dataset[idx] for idx in possibly_batched_index]
  File "/mnt/home/Code/BEV/BEVDet/mmdet3d/datasets/custom_3d.py", line 435, in __getitem__
    data = self.prepare_train_data(idx)
  File "/mnt/home/Code/BEV/BEVDet/mmdet3d/datasets/custom_3d.py", line 229, in prepare_train_data
    example = self.pipeline(input_dict)
  File "/mnt/home/Code/BEV/BEVDet/mmdet3d/datasets/pipelines/compose.py", line 49, in __call__
    data = t(data)
  File "/mnt/home/Code/BEV/BEVDet/mmdet3d/datasets/pipelines/loading.py", line 1157, in __call__
    results['img_inputs'] = self.get_inputs(results)
  File "/mnt/home/Code/BEV/BEVDet/mmdet3d/datasets/pipelines/loading.py", line 1105, in get_inputs
    imgs.append(self.normalize_img(img))
  File "/mnt/home/Code/BEV/BEVDet/mmdet3d/datasets/pipelines/loading.py", line 853, in mmlabNormalize
    img = imnormalize(np.array(img), mean, std, to_rgb)
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/mmcv/image/photometric.py", line 22, in imnormalize
    return imnormalize_(img, mean, std, to_rgb)
  File "/mnt/home/anaconda3/envs/bevdet/lib/python3.8/site-packages/mmcv/image/photometric.py", line 43, in imnormalize_
    cv2.subtract(img, mean, img)  # inplace
cv2.error: OpenCV(4.10.0) /io/opencv/modules/core/src/arithm.cpp:658: error: (-209:Sizes of input arguments do not match) The operation is neither 'array op array' (where arrays have the same size and the same number of channels), nor 'array op scalar', nor 'scalar op array' in function 'arithm_op