PointNet++ training problem

I want to train my own XYZL (L-label) data with PointNet++. I couldn't do it in any way. What codes can I use to do this in order?

The label data consists of five classes (1,2,3,4, and 5), and the point cloud consists of 500,000 points.

Similarly, I am having trouble with PointNet. When I use the pre-trained model, the process can be run, but the class labels I want are not there either.

Thanks!

[Walter Roberson]

(More about PointNet++: https://www.mathworks.com/help/lidar/ug/get-started-pointnetplus.html )