How to reder a color voxel map?

[rsk-ff]

I can generate the octomap of my target room with the corresponding pointcloud map(.pcd file) and rgb values. Now i hope to show the result with a picture similar to the one above, but i dont konw how to render the voxel map in my own cpp project. I wonder if this can be done via ros or octovis, if so how can I integrate it in my own project? This feels very tricky.