How can I voxelize a 3D model?

I'm researching a 3D reconstruction algorithm, and I'm trying to find software/script that will voxelize a 3D model (in, let's say, STL or OBJ formats) with color information - it should output a 3D matrix or a list of points and their respective color. I found a lot of ways to voxelize STLs, but not a way to transfer the color information.

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