octomap in rviz and occupancy grids in 3D maps
I have saved a .bt file which I can properly visualize with octovis. However, for some reason I need to visualize octomap image, or to make it clear, 3D maps with voxels on rviz. I can't simply view it by launching octomap_mapping and adding occupied_cells_vis_array. Does it require some kind of editing in the launch file?
I want to know (1)how can I visualize a 3D map generated by octomap directly, i.e., while running Kinect(which I am using as sensing device), with rviz? and (2) how can I visualize an already saved .bt file with rviz?
Moreover, the bottom line of all the effort is to run a localiation algorithm for which I require information like free and occupied cells in the map. If you have any suggestion regarding how I can get occupancy grids for 3D maps, kindly provide that as well....thank you in advance