is there any way to get the color of each voxel in an Octomap as it is being built in real-time? The package I am looking at, https://github.com/floatlazer/semantic_slam, is a semantic SLAM package which assigns colors to different parts of the Octomap based on what the object is. I would like to extract and use those colors to allow a robot to navigate to a desired type of object.
Is there a way to do this? I saw that Octomap has a conversions.h file, but I am not sure how to use it since I am a bit new to using Octomap.