Subject matter regards colorizing a three-dimensional (3D) point set. A method of colorizing a 3D point can include voxelizing 3D points including the 3D point into voxels such that a voxel of the voxels including the 3D point includes a voxel subset of the 3D points, projecting the voxel subset to respective image spaces of first and second images used to generate the 3D points, and associating a color value, determined based on a respective number of pixels of the first and second images to which the voxel subset projects, with the 3D point.