standard_viewer_mem.hpp

#pragma once
 
#include <vector>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <glim/mapping/sub_map.hpp>
 
namespace glim {
 
struct SubMapMemoryStats {
public:
  SubMapMemoryStats();
  SubMapMemoryStats(const SubMap& submap);
  ~SubMapMemoryStats();
 
public:
  size_t id;  
 
  size_t frame_cpu_bytes;     
  size_t voxelmap_cpu_bytes;  
  size_t frame_gpu_bytes;     
  size_t voxelmap_gpu_bytes;  
 
  size_t odom_cpu_bytes;  
  size_t odom_gpu_bytes;  
 
  size_t num_custom_data;  
};
 
struct FactorMemoryStats {
public:
  FactorMemoryStats();
  FactorMemoryStats(const gtsam::NonlinearFactor::shared_ptr& factor);
  ~FactorMemoryStats();
 
public:
  size_t cpu_bytes;
  size_t gpu_bytes;
};
 
}  // namespace glim