PointCloud< T > Class Template Reference

Represents a 3D point cloud for robotics and mapping applications. More...

#include <PointCloud.h>

Inheritance diagram for PointCloud< T >:

Collaboration diagram for PointCloud< T >:

Public Types
using	VectorT = std::vector< Point3D< T >, AllocatorPSRAM< Point3D< T > > >
using	value_type = T

Public Member Functions
	PointCloud (T voxalSize, bool isliveVoxel=false)
void	setLiveVoxelGrid (bool live)
void	setVoxalSize (T size)
	Set the size of each voxel in the grid (e.g., 0.1 m for 10cm voxels).
void	add (T x, T y, T z=0.0f)
	Add a single point.
void	add (const Point3D< T > *pts, size_t count)
	Add from array.
void	add (const Coordinate< T > &coord)
	Add from Coordinate.
const VectorT &	points () const
	Provides access to the points in the point cloud.
VectorT &	points ()
	Provides access to the points in the point cloud.
size_t	size () const
	Provide the number of points in the point cloud.
bool	isEmpty () const
	Checks if the point cloud is empty (i.e., contains no points).
Bounds	bounds () const
	Returns the bounding box of the point cloud, which is defined by the minimum and maximum coordinates along each axis (x, y, z). The bounding box is updated whenever new points are added to the cloud, allowing for efficient retrieval of the spatial extent of the point cloud.
void	buildVoxelGrid ()
	Builds a voxel grid for fast occupancy queries: A voxel is a grid cell.
std::vector< Coordinate< T > >	getNeighbors (Coordinate< T > from) const override
	Returns the free (unoccupied) neighboring coordinates of a given point in the voxel grid.
void	set3D (bool is3d)
void	setBounds (float minX, float minY, float minZ, float maxX, float maxY, float maxZ)
bool	isOccupied (float x, float y, float z) const
	Checks if a given point is occupied based on the voxel grid.
bool	isValid (const Coordinate< T > &coord) const override
	Checks if a coordinate is valid (within bounds and not occupied)
auto	beginVoxels ()
	Provides sequential (iterator) access to all occupied voxels.
auto	endVoxels ()
	Provides sequential (iterator) access to all occupied voxels.
auto	beginVoxels () const
	Provides sequential (iterator) access to all occupied voxels.
auto	endVoxels () const
	Provides sequential (iterator) access to all occupied voxels.
size_t	writeTo (Print &out)
	Write map to output.
size_t	readFrom (Stream &in)
	Read map from input.
void	clear ()
	Clear all data.
virtual std::vector< Coordinate< T > >	getNeighbors (Coordinate< T > from) const =0
	Get world coordinates of neighboring cells (for pathfinding or navigation).
virtual bool	isValid (const Coordinate< T > &coord) const =0
	Check if a coordinate is inside the map bounds.

Protected Types
using	PSRAMKeyAllocator = AllocatorPSRAM< Key >

Protected Member Functions
void	resetBounds ()
void	updateBounds (const Point3D< T > &p)
void	addVoxel (float x, float y, float z)
	Adds a point to the voxel grid if voxelSize_ > 0.
Coordinate< T >	toVoxel (int cx, int cy) const

Protected Attributes
bool	is_3d = false
VectorT	points_
Bounds	bounds_
T	voxelSize_ = 0.0f
bool	liveVocelGrid_ = false
std::unordered_set< Key, KeyHash, std::equal_to< Key >, PSRAMKeyAllocator >	voxelGrid_
PointCloudSerializer< PointCloud< T > >	serializer

Detailed Description

template<typename T = DistanceM>
class tinyrobotics::PointCloud< T >

Represents a 3D point cloud for robotics and mapping applications.

The PointCloud class manages a collection of 3D points and provides:

• Efficient addition of points (individually, from arrays, or from Coordinate).
• Automatic bounding box tracking for fast spatial queries.
• Voxel grid downsampling to reduce point density while preserving structure.
• Fast occupancy queries via a voxel grid (for collision checking or mapping).
• Optional "live" voxel grid mode for real-time occupancy updates as points are added.

Usage scenarios include 3D mapping, obstacle detection, SLAM, and environment representation. The class is designed for embedded and robotics use, balancing efficiency and flexibility.

Key features:

• Add, clear, and access points.
• Retrieve the bounding box (min/max x, y, z).
• Downsample using a voxel grid (keep one point per voxel).
• Build and query a voxel occupancy grid for fast lookups.
• Optionally enable live voxel grid updates for real-time occupancy.

Example:

PointCloud cloud(0.1f);
cloud.add(1.0, 2.0, 0.5);
cloud.buildVoxelGrid(); // 10cm voxels
bool occ = cloud.isOccupied(1.0, 2.0, 0.5);

Member Function Documentation

getNeighbors()

std::vector< Coordinate< T > > getNeighbors ( Coordinate< T >  from ) const

inlineoverridevirtual

Returns the free (unoccupied) neighboring coordinates of a given point in the voxel grid.

If the voxel grid is built (voxelSize_ > 0), this method returns all adjacent unoccupied voxels (6-connectivity in 3D, or 4/8-connectivity in 2D if z=0). Only neighbors that are not present in the voxel grid are returned.

Parameters

from	The coordinate to find neighbors for.

Returns

std::vector<Coordinate<T>> List of free neighboring coordinates.

Implements IMapNeighbors< T >.

isValid()

bool isValid ( const Coordinate< T > &  coord ) const

inlineoverridevirtual

Checks if a coordinate is valid (within bounds and not occupied)

Implements IMapNeighbors< T >.

set3D()

void set3D ( bool  is3d )

inline

Use 3D in findNeighbors (if false, only consider z=0 plane for 2D occupancy)

setBounds()

void setBounds ( float  minX, float  minY, float  minZ, float  maxX, float  maxY, float  maxZ  )

inline

Manually set the bounding box (if known in advance, can save time instead of

setLiveVoxelGrid()

void setLiveVoxelGrid ( bool  live )

inline

Update the voxel grid as points are added (for real-time occupancy updates).

toVoxel()

Coordinate< T > toVoxel ( int  cx, int  cy  ) const

inlineprotected

Convert voxel grid index (cx, cy) to world coordinate (center of voxel, z=0)

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The documentation for this class was generated from the following file:

• src/TinyRobotics/maps/PointCloud.h