Using pointpillar .onnx model

I converted a trained pointpillar model by running tao model pointpillars export.
I then viewed the .onnx network structure by using Netron.
It seems that there’re 3 plugin layers that aren’t directly supported by onnxruntime.

Unlike YOLOv4, in which I removed the last layer, BatchedNMSDynamic_TRT, and then exported a new model that can be used directly by onnxruntime, the pointpillar .onnx model contains custom Ops in the middle of the network structure. Therefore, by merely removeing the last layer, DecodeBbox3D plugin, isn’t enough.

I wonder if it’s possible to split the whole pointpillar .onnx model into 2 parts, implement VoxelGeneratorPlugin and PillarScatterPlugin layers, respectively and then remove the DecodeBbox3D plugin layer? Also, if the assumption is possible, I wonder where to look for the implementations of VoxelGeneratorPlugin, PillarScatterPlugin and DecodeBbox3D pluginlayers.

Thanks.

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