from numba.np.ufunc import _internal initialization of _internal failed without raising an exception

执行python tools/create_data_bevdet.py生成nuScenes数据集的那些索引文件时发生下面的错误：

raceback (most recent call last):
  File "tools/create_data_bevdet.py", line 9, in <module>
    from tools.data_converter import nuscenes_converter as nuscenes_converter
  File "/hostworkspace/BEVDet/tools/data_converter/nuscenes_converter.py", line 14, in <module>
    from mmdet3d.core.bbox import points_cam2img
  File "/hostworkspace/BEVDet/mmdet3d/core/__init__.py", line 4, in <module>
    from .evaluation import *  # noqa: F401, F403
  File "/hostworkspace/BEVDet/mmdet3d/core/evaluation/__init__.py", line 4, in <module>
    from .kitti_utils import kitti_eval, kitti_eval_coco_style
  File "/hostworkspace/BEVDet/mmdet3d/core/evaluation/kitti_utils/__init__.py", line 2, in <module>
    from .eval import kitti_eval, kitti_eval_coco_style
  File "/hostworkspace/BEVDet/mmdet3d/core/evaluation/kitti_utils/eval.py", line 5, in <module>
    import numba
  File "/opt/conda/lib/python3.8/site-packages/numba/__init__.py", line 43, in <module>
    from numba.np.ufunc import (vectorize, guvectorize, threading_layer,
  File "/opt/conda/lib/python3.8/site-packages/numba/np/ufunc/__init__.py", line 3, in <module>
    from numba.np.ufunc.decorators import Vectorize, GUVectorize, vectorize, guvectorize
  File "/opt/conda/lib/python3.8/site-packages/numba/np/ufunc/decorators.py", line 3, in <module>
    from numba.np.ufunc import _internal
SystemError: initialization of _internal failed without raising an exception

应该是版本有问题，网上查了一下，说是numba和numpy的版本不匹配，于是想升级一下numba到最新的0.58:

但是报错提示mmdet3d要求使用numba 0.53，于是按外网上的建议删掉numpy和numba，然后重新安装numba 0.53，让numba安装时自动安装匹配的numpy版本：

但是执行python tools/create_data_bevdet.py时仍然报同样的错:

只好把自动安装的numpy1.24.4卸载掉，然后再安装网上有人推荐的numpy 1.23.5

然后create_data_bevdet.py就可以成功执行了！看来 numba0.53需要和numpy1.23.5组合才能使用。bevdet的requirements/runtime.txt里对numpy没有指定版本，这就造成了这个问题:

修改这个文件设置numpy==1.23.5，防止下次重新安装环境后再处理nuScenes数据集时出错。