Use *.pcd file as input to inference or inference without normals

[julianleelinker]

Hi @pengsongyou @nynyg,

Thanks for sharing your awesome works! The results looks fantastic!
Is it possible to inference without providing normals information?
I am trying to inference from my own data.
I checked the config file and found that default input npz contains 'points' and 'normals', however for *.pcd format we don't have nomals information.

Thank you

[julianleelinker]

I found that normal is not used for inference, as the author mentioned here
#42 (comment)