Thanks for your excellent works! However, after reading your code, I have a question about the method of voxelization.

[gouzidama]

Thanks for your excellent works!
I work on outdoor lidar point cloud, so after reading your code, I have some question about the method of voxelization:

1. It seems that, after voxelization, one point represents one voxel?
2. Won't it be too much collision in one voxel and won't it be too much loss of information?