Fixed low FPS when sending point markers (ros-visualization#1049) (ro…

…s-visualization#1055) Signed-off-by: Alejandro Hernández Cordero <[email protected]> (cherry picked from commit 0f6b3ad9c78c97d702f8f52b31e7cb46a64b8d35) Co-authored-by: Alejandro Hernández Cordero <[email protected]>
130s · Sep 6, 2023 · 16a0d8c · 16a0d8c
1 parent 2391b3a
commit 16a0d8c
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/rviz_rendering/src/rviz_rendering/objects/point_cloud.cpp b/rviz_rendering/src/rviz_rendering/objects/point_cloud.cpp
@@ -585,6 +585,10 @@ PointCloud::addPointToHardwareBuffer(
   float y = point->position.y;
   float z = point->position.z;
 
+  auto num_vertices = internals.rend->getBuffer()->getNumVertices();
+  auto vertex_size =
+    internals.rend->getRenderOperation()->vertexData->vertexDeclaration->getVertexSize(0);
+
   for (uint32_t j = 0; j < getVerticesPerPoint(); ++j, ++internals.current_vertex_count) {
     *float_buffer++ = x;
     *float_buffer++ = y;
@@ -602,9 +606,7 @@ PointCloud::addPointToHardwareBuffer(
 
     assert(
       reinterpret_cast<uint8_t *>(float_buffer) <=
-      reinterpret_cast<uint8_t *>(float_buffer) +
-      internals.rend->getBuffer()->getNumVertices() *
-      internals.rend->getRenderOperation()->vertexData->vertexDeclaration->getVertexSize(0));
+      reinterpret_cast<uint8_t *>(float_buffer) + num_vertices * vertex_size);
   }
   internals.float_buffer = float_buffer;
   return internals;