memory usage for point cloud buffer (#176)

Author: koide3

include/glk/pointcloud_buffer.hpp

@@ -99,6 +99,8 @@ class PointCloudBuffer : public glk::Drawable {
 
   int size() const { return num_points; }
 
+  size_t memory_usage() const;
+
 private:
   mutable std::atomic_uint rendering_count;
   int points_rendering_budget;
@@ -114,8 +116,7 @@ class PointCloudBuffer : public glk::Drawable {
 
 // template methods
 template <typename Scalar, int Dim, typename Allocator>
-PointCloudBuffer::PointCloudBuffer(const std::vector<Eigen::Matrix<Scalar, Dim, 1>, Allocator>& points)
-: PointCloudBuffer(points.data(), points.size()) {}
+PointCloudBuffer::PointCloudBuffer(const std::vector<Eigen::Matrix<Scalar, Dim, 1>, Allocator>& points) : PointCloudBuffer(points.data(), points.size()) {}
 
 template <int N, typename Allocator>
 void PointCloudBuffer::add_normals(const std::vector<Eigen::Matrix<float, N, 1>, Allocator>& normals) {

src/glk/gridmap.cpp

@@ -42,7 +42,9 @@ void GridMap::update_color(int width, int height, const unsigned char* values, i
         std::copy(values + i * 4, values + i * 4 + 4, rgba.begin() + i * 4);
         break;
     }
-    if (mode != ColorMode::RGBA) rgba[i * 4 + 3] = alpha;
+    if (mode != ColorMode::RGBA) {
+      rgba[i * 4 + 3] = alpha;
+    }
   }
 
   texture.reset(new Texture(Eigen::Vector2i(width, height), GL_RGBA, GL_RGBA, GL_UNSIGNED_BYTE, rgba.data()));
@@ -76,8 +78,13 @@ void GridMap::update_color(int width, int height, float scale, const float* valu
       case ColorMode::PROB_TURBO:
         rgb = glk::colormapf(glk::COLORMAP::TURBO, (1.0f - x)).head<3>();
         break;
+      case ColorMode::RGBA:
+        std::copy(values + i * 4, values + i * 4 + 4, rgba.begin() + i * 4);
+        break;
+    }
+    if (mode != ColorMode::RGBA) {
+      rgba[i * 4 + 3] = alpha;
     }
-    rgba[i * 4 + 3] = alpha;
   }
 
   texture.reset(new Texture(Eigen::Vector2i(width, height), GL_RGBA, GL_RGBA, GL_FLOAT, rgba.data()));

src/glk/pointcloud_buffer.cpp

@@ -346,4 +346,17 @@ const AuxBufferData& PointCloudBuffer::get_aux_buffer(int i) const {
   return aux_buffers[i];
 }
 
+size_t PointCloudBuffer::memory_usage() const {
+  size_t bytes = stride * num_points;
+  if (ebo) {
+    bytes += sizeof(unsigned int) * num_points;
+  }
+
+  for (const auto& aux : aux_buffers) {
+    bytes += aux.stride * num_points;
+  }
+
+  return bytes;
+}
+
 }  // namespace glk