Please help me inference mmdet3d model

[luvubnd]

I followed MMDeploy instruction for MMdetection3D
https://mmdeploy.readthedocs.io/en/latest/04-supported-codebases/mmdet3d.html
I converted model successfully and about to move to the next step which is model inference

However, it is said that "At present, the voxelize preprocessing and postprocessing of mmdet3d are not converted into onnx operations; the C++ SDK has not yet implemented the voxelize calculation.

The caller needs to refer to the corresponding python implementation to complete."

And I have no Idea how to do it (I'm a beginner), Please help me to inference my converted model into python file.

This is how I convert my model
python3 mmdeploy/tools/deploy.py mmdeploy/configs/mmdet3d/voxel-detection/voxel-detection_onnxruntime_dynamic.py mmdetection3d/centerpoint_pillar02_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py mmdetection3d/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus_20220811_031844-191a3822.pth mmdeploy/tests/data/n008-2018-08-01-15-16-36-0400__LIDAR_TOP__1533151612397179.pcd.bin --work-dir mmdeploy/mmdeploy_model/centerpoint