How to load a JSON file and convert it to an object of a specific type?

I have a type FooObject and I have a JSON file which was serialized from a FooObject instance. Now I want to use ConvertFrom-Json to load the JSON file to memory and covert the output of the command to a FooObject object, and then use the new object in a cmdlet Set-Bar which only accept FooObject as the parameter type.

But I notice that the output type of ConvertFrom-Json is PSCustomObject and I did not find any way to convert PSCustomObject to FooObject.