How can I create an octree from a point cloud without raytracing?
I have a point cloud generated from the registration of several RGB-D observations. I'd like to create an octree of just occupancy data from it (specifically, an octomap::OcTree object), to pass to MoveIt for collision avoidance. I want to skip doing any raytracing, and just put occupied voxels where the points occur--besides being faster, there's no single viewpoint to cast rays from, since the cloud comprises several observations. Is there a function for this in the Octomap API?