octomap : convert point cloud pcd to ogm
keyfunction: tree.updateNode(octomap::point3d(point.x,point.y,point.z),true); tree.updateInnerOccupancy(); tree.insertPointCloud(cloud_octo,octomap::point3d(posesi,posesi,posesi)); tree.integrateNodeColor(point.x,point.y,point.z,point.r,point.g,point.b);