# OctoMap/octomap

An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.

Repository: https://github.com/OctoMap/octomap
Canonical: https://ross.abutalabs.com/products/octomap
Homepage: http://octomap.github.io/octomap/
Language: C++
License Family: other
Last push: 2026-08-02T17:47:50+00:00

## Health v2 (maintenance only)
Score: 66/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 95, release rhythm 8, longevity 100
- inputs: {"age_days": 5006, "days_push": 31, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 2363, forks 701 (observed 2026-08-28T04:06:41.012980+00:00)

## What it is
OctoMap is a C++ library providing an efficient probabilistic 3D mapping framework based on octrees, with occupancy representation and volumetric queries. It includes the octovis visualization tool and the dynamicEDT3D distance transform library.

## Use cases
- build 3D occupancy maps from robot sensor data
- store and query probabilistic 3D environments with octrees
- visualize 3D octree maps with octovis
- compute 3D distance transforms with dynamicEDT3D
- integrate 3D mapping into ROS projects
- perform collision checking on volumetric maps

## When to choose
- you need memory-efficient probabilistic 3D occupancy mapping in C++
- you are building robot navigation or SLAM systems
- you want a mature, well-documented octree mapping library with ROS support

## When to avoid
- you need 2D-only mapping (simpler grid maps suffice)
- you require a license other than BSD/GPL for the visualization tools
- you need GPU-accelerated mapping

## Facets
- artifact type: library
- maturity: stable
- function: simulation, graphics, file-system
- domain: robotics, simulation
- platform: windows, cpp, cross-platform
- tags: octree, 3d-mapping, probabilistic-mapping, point-cloud, slam, visualization, cmake, ros, algorithms, linux, macos

## Member repositories
- OctoMap/octomap (main) score 66

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:06:41.012980+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T02:36:02.423986+00:00, confidence not recorded.
  - readme: https://github.com/OctoMap/octomap (fetched 2026-08-28T04:06:41.012980+00:00, sha 64da9308bd1d)
  - homepage: http://octomap.github.io/octomap/ (fetched 2026-08-29T10:16:28.998507+00:00, sha 5e16df7fdf3a)
- Data as of 2026-08-30T08:39:29.467469+00:00.