Is my general design right in motion planning based on continuous PointCloud stream from camera?

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Hi, I am trying to perform motion planning and to avoid collisions using Moveit. For that I need to continuously import PointCloud form my ZED 3D camera. What is the best way to do that? I thought to use PointCloudOctomapUpdater to continuously update an OctoMap, and use PlanningSceneMonitor to update the PlanningScene with that Octomap. Is that solution right? Maybe I need to use FCL input instead? Any tutorials regarding all that? Thanks in advance, Dror