How to perform semantic segmentation on the SemanticKITTI dataset?

[Makoto0015]

I have successfully implemented semantic segmentation on point clouds using the S3DIS dataset. Now, I would like to try switching to an outdoor road point cloud dataset. However, I noticed that the data format of SemanticKITTI differs significantly from that of S3DIS. I would like to inquire whether the PointNet++ model can be applied to semantic segmentation on the SemanticKITTI dataset, and how to proceed. Is it necessary to use a DataLoader to convert its format?