Tracking mode detection_3DOP can not find PointCloud datasets

[lucasjinreal]

Hi, thanks for opensource this framework. I finally can run it on my computer, I want reproduce the result
in your paper which got the accurate 3D boundingbox. I assume should change mode to detection_3DOP mode. But once I set it in config, got this error:

Hello from CIWT!
Tracking mode: detection_3DOP.
Run tracker: YES.
[setPointCloudRenderingProperties] Could not find any PointCloud datasets with id <sample cloud>!

It can not find PointCloud datasets, but how should I set it, I have download the lidar data, how to set it? Or what data it need exactlly?