How can I apply this method to get a sparse tensor?

[zyl1336110861]

@mileyan Thanks for your sharing. I can get a dense 3d voxel tensor(DxHxW grid) by the quantization method. But many detectors nowadays are designed to be applied to the sparse tensor which is the input of spconv. So how can I apply your quantization method to get a sparse tensor(voxels, coordinates)? Is it possible?