Retrieve labels for the original non voxelized scans

[tbigi1]

Hi @Chen-Xieyuanli, at first I want to congratulate with you for your excellent work. I'm struggling to retrieve the labels for all points of the original point cloud after obtaining the dynamic proposals from the voxelized global map. In other words, I found the dynamic points of each voxelized scan but I can't obtain the dynamic labels for the original non voxelized scan. I tried to implement a neighborhood search but it doesn't work because it returns too few dynamic points. Do you have any suggestion for my problem? Thanks in advance!