---
title: "VoxelGridMap"
---
<!-- DO NOT EDIT! This file was auto-generated by crates/build/re_types_builder/src/codegen/docs/website.rs -->

⚠️ **This type is _unstable_ and may change significantly in a way that the data won't be backwards compatible.**
A sparse 3D voxel grid map with grid indices and voxel dimensions.

This archetype is intended for 3D occupancy maps and other volumetric data
represented as a sparse grid of voxels with scene-unit dimensions along the local X/Y/Z axes.

The minimum corner of the voxel with `[0, 0, 0]` index is located at the origin of the entity's coordinate frame
and can have an additional offset from there through the optional translation and rotation fields.

A voxel center is at `(index + 0.5) * voxel_size` in local grid coordinates (i.e. relative to the minimum corner).

## Fields
### Required
* `voxel_indices`: [`VoxelIndex`](../components/voxel_index.md)
* `voxel_size`: [`VoxelSize`](../components/voxel_size.md)

### Optional
* `values`: [`VoxelValue`](../components/voxel_value.md)
* `colors`: [`Color`](../components/color.md)
* `translation`: [`Translation3D`](../components/translation3d.md)
* `rotation_axis_angle`: [`RotationAxisAngle`](../components/rotation_axis_angle.md)
* `quaternion`: [`RotationQuat`](../components/rotation_quat.md)
* `opacity`: [`Opacity`](../components/opacity.md)
* `value_range`: [`ValueRange`](../components/value_range.md)
* `colormap`: [`Colormap`](../components/colormap.md)


## Can be shown in
* [Spatial3DView](../views/spatial3d_view.md)
* [DataframeView](../views/dataframe_view.md)

## API reference links
 * 🌊 [C++ API docs for `VoxelGridMap`](https://ref.rerun.io/docs/cpp/stable/structrerun_1_1archetypes_1_1VoxelGridMap.html)
 * 🐍 [Python API docs for `VoxelGridMap`](https://ref.rerun.io/docs/python/stable/common/archetypes#rerun.archetypes.VoxelGridMap)
 * 🦀 [Rust API docs for `VoxelGridMap`](https://docs.rs/rerun/latest/rerun/archetypes/struct.VoxelGridMap.html)

## Example

### Simple sparse voxel grid map

snippet: archetypes/voxel_grid_map_simple

