C++ API

Fix KITTI dataloader #83

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Run time

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Job	Run time
cpp_api_dev (ubuntu-22.04)	52s
cpp_api (ubuntu-24.04)	12m 32s
cpp_api (windows-2022)	8m 14s
cpp_api (macos-15)	7m 17s
cpp_api (macos-14)	6m 5s
cpp_api (ubuntu-22.04)	9m 44s
cpp_api_dev (ubuntu-24.04)	1m 14s
	45m 58s