remove usage of np.float deprecated in numpy 1.20

bop_toolkit_lib/inout.py

@@ -150,13 +150,13 @@ def load_scene_camera(path):
   for im_id in scene_camera.keys():
     if 'cam_K' in scene_camera[im_id].keys():
       scene_camera[im_id]['cam_K'] = \
-        np.array(scene_camera[im_id]['cam_K'], np.float).reshape((3, 3))
+        np.array(scene_camera[im_id]['cam_K'], np.float64).reshape((3, 3))
     if 'cam_R_w2c' in scene_camera[im_id].keys():
       scene_camera[im_id]['cam_R_w2c'] = \
-        np.array(scene_camera[im_id]['cam_R_w2c'], np.float).reshape((3, 3))
+        np.array(scene_camera[im_id]['cam_R_w2c'], np.float64).reshape((3, 3))
     if 'cam_t_w2c' in scene_camera[im_id].keys():
       scene_camera[im_id]['cam_t_w2c'] = \
-        np.array(scene_camera[im_id]['cam_t_w2c'], np.float).reshape((3, 1))
+        np.array(scene_camera[im_id]['cam_t_w2c'], np.float64).reshape((3, 1))
   return scene_camera
 
 
@@ -192,9 +192,9 @@ def load_scene_gt(path):
   for im_id, im_gt in scene_gt.items():
     for gt in im_gt:
       if 'cam_R_m2c' in gt.keys():
-        gt['cam_R_m2c'] = np.array(gt['cam_R_m2c'], np.float).reshape((3, 3))
+        gt['cam_R_m2c'] = np.array(gt['cam_R_m2c'], np.float64).reshape((3, 3))
       if 'cam_t_m2c' in gt.keys():
-        gt['cam_t_m2c'] = np.array(gt['cam_t_m2c'], np.float).reshape((3, 1))
+        gt['cam_t_m2c'] = np.array(gt['cam_t_m2c'], np.float64).reshape((3, 1))
   return scene_gt
 
 
@@ -248,9 +248,9 @@ def load_bop_results(path, version='bop19'):
             'obj_id': int(elems[2]),
             'score': float(elems[3]),
             'R': np.array(
-              list(map(float, elems[4].split())), np.float).reshape((3, 3)),
+              list(map(float, elems[4].split())), np.float64).reshape((3, 3)),
             't': np.array(
-              list(map(float, elems[5].split())), np.float).reshape((3, 1)),
+              list(map(float, elems[5].split())), np.float64).reshape((3, 1)),
             'time': float(elems[6])
           }
 
@@ -471,32 +471,32 @@ def load_ply(path):
   model = {}
   if texture_file is not None:
     model['texture_file'] = texture_file
-  model['pts'] = np.zeros((n_pts, 3), np.float)
+  model['pts'] = np.zeros((n_pts, 3), np.float32)
   if n_faces > 0:
-    model['faces'] = np.zeros((n_faces, face_n_corners), np.float)
+    model['faces'] = np.zeros((n_faces, face_n_corners), np.float32)
 
   pt_props_names = [p[0] for p in pt_props]
   face_props_names = [p[0] for p in face_props]
 
   is_normal = False
   if {'nx', 'ny', 'nz'}.issubset(set(pt_props_names)):
     is_normal = True
-    model['normals'] = np.zeros((n_pts, 3), np.float)
+    model['normals'] = np.zeros((n_pts, 3), np.float32)
 
   is_color = False
   if {'red', 'green', 'blue'}.issubset(set(pt_props_names)):
     is_color = True
-    model['colors'] = np.zeros((n_pts, 3), np.float)
+    model['colors'] = np.zeros((n_pts, 3), np.float32)
 
   is_texture_pt = False
   if {'texture_u', 'texture_v'}.issubset(set(pt_props_names)):
     is_texture_pt = True
-    model['texture_uv'] = np.zeros((n_pts, 2), np.float)
+    model['texture_uv'] = np.zeros((n_pts, 2), np.float32)
 
   is_texture_face = False
   if {'texcoord'}.issubset(set(face_props_names)):
     is_texture_face = True
-    model['texture_uv_face'] = np.zeros((n_faces, 6), np.float)
+    model['texture_uv_face'] = np.zeros((n_faces, 6), np.float32)
 
   # Formats for the binary case.
   formats = {