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Bonxai

  • Software
  • Navigation and mapping
  • Library

A header-only C++ library for sparse, unbounded 3D voxel grids, used to store and manipulate volumetric data. It is built mainly for fun and education.

Source on GitHub: github.com/facontidavide/Bonxai (opens in a new tab). Facts read at commit 8ba04b2 (opens in a new tab).

Licenses

Code
MPL-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MPL-2.0) at commit 8ba04b2 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Stores volumetric data on a three-dimensional grid using a compact hierarchical structure that uses far less memory than a dense voxel grid.
  • Needs no predefined boundary for the 3D space, since it uses 32-bit indices.
  • Is reported to be much faster than Octomap and an Octree, and sometimes more memory-efficient.
  • Is inspired by OpenVDB and implements the original VDB paper with some changes.
  • Cells can hold simple integer or floating-point values, or more complex types such as vectors or custom structs.
  • Writing to a grid requires an accessor, and the grid itself is not thread-safe for writes; read-only access from several threads works with one accessor per thread.

Written by Robotheca from the project's README (opens in a new tab) at commit 8ba04b2.

Getting started

Difficulty
Intermediate

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
28 Sept 2026 on main
Latest release
0.8.0: Perfomance improvements (29 Sept 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.