Localization using 3D OctoMap structure

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Hello there,

Firstly, i am a quite newbie in ROS and OctoMap and even more on PCL, and as i search around ros.answers most of the questions were quite old regarding OctoMap.

So, I have builded a 3D OctoMap and now i am trying to do some localization with it! My task is to localize with the use of Depth and RGB Cameras.

My input is, a sensor_msgs::PointCloud2 for depth data. I have read in https://answers.ros.org/question/30821/octomap-for-collision-avoidance-using-point-clouds/ that the PointClouds used for its (3D OctoMap) construction is not saved. Hence there in no way, as far as i can tell, to do feature extraction on Octomap and then matching them between OctoMap and input data.

So my question here is, what would be the best approach to leverage 3D OctoMap library to match my input to the OctoMap structure and hence do some form of localization?

Any help would be greatly appreciated,

Thanks