convert np.bool to np.bool_

[zhangtingyu11]

When I train pointpillar_pyramid_aug, the error occurs.

AttributeError: module 'numpy' has no attribute 'bool'.
`np.bool` was a deprecated alias for the builtin `bool`. To avoid this error in existing code, use `bool` by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use `np.bool_` here.

Since np.bool is deprecated in numpy>=1.20, so I change the np.bool to np.bool_ in files using np.bool.

[ohisamelie]

You may solve this problem by using:
pip3 install mxnet-mkl==1.6.0 numpy ==1.23.1