How to write a pointpillars detection demo in cpp

[Guoxs]

I have generated pointpillars' engine file and the performance looks good, now I want to write a 3D object detection inference demo using C++. However, I can only find c++ inference demo for 2D object detection (demo/csrc/cpp/detector.cxx):

It seems that the detector.Apply API can only support Mat object. So I want to know how to make this API support pointcloud type, such as pcl::PointCloudpcl::PointXYZI.

Thanks!

[lvhan028]

@lzhangzz