This converts pcl pointcloud to octomap instance

pcl2octomap.cpp

octomap::OcTree  pcl2octomap(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr input_cloud, double resolution = 5) {
    // create pcl octree - ultra fast
    pcl::octree::OctreePointCloudVoxelCentroid<pcl::PointXYZRGB> octree(resolution);
    octree.setInputCloud(input_cloud);
    octree.addPointsFromInputCloud();
    std::vector< pcl::PointXYZRGB, Eigen::aligned_allocator<pcl::PointXYZRGB> > voxel_centers;
    octree.getOccupiedVoxelCenters(voxel_centers);

    // create octomap instance from pcl octree
    OcTree final_octree(resolution);
    for (const auto & voxel_center: voxel_centers) {
        final_octree.updateNode(voxel_center.x,voxel_center.y,voxel_center.z,true,false);
    }
    final_octree.updateInnerOccupancy();

    return final_octree;
}