diff --git a/voxblox/include/voxblox/io/mesh_ply.h b/voxblox/include/voxblox/io/mesh_ply.h
index 13b3e1b27..bfac19153 100644
--- a/voxblox/include/voxblox/io/mesh_ply.h
+++ b/voxblox/include/voxblox/io/mesh_ply.h
@@ -46,7 +46,7 @@ bool outputMeshLayerAsPly(const std::string& filename,
                           const MeshLayer& mesh_layer);
 
 /**
- * @param connected_mesh if true veracities will be shared between triangles
+ * @param connected_mesh if true vertices will be shared between triangles
  */
 bool outputMeshLayerAsPly(const std::string& filename,
                           const bool connected_mesh,
diff --git a/voxblox/include/voxblox/mesh/mesh.h b/voxblox/include/voxblox/mesh/mesh.h
index b275ddd4f..1b5cee24a 100644
--- a/voxblox/include/voxblox/mesh/mesh.h
+++ b/voxblox/include/voxblox/mesh/mesh.h
@@ -59,6 +59,19 @@ struct Mesh {
   inline bool hasTriangles() const { return !indices.empty(); }
 
   inline size_t size() const { return vertices.size(); }
+  inline size_t getMemorySize() const {
+    size_t size_bytes = 0u;
+    size_bytes += sizeof(Pointcloud) + vertices.size() * sizeof(Point);
+    size_bytes += sizeof(Pointcloud) + normals.size() * sizeof(Point);
+    size_bytes += sizeof(Colors) + vertices.size() * sizeof(Color);
+    size_bytes +=
+        sizeof(VertexIndexList) + indices.size() * sizeof(VertexIndex);
+
+    size_bytes += sizeof(block_size);
+    size_bytes += sizeof(origin);
+    size_bytes += sizeof(updated);
+    return size_bytes;
+  }
 
   inline void clear() {
     vertices.clear();
diff --git a/voxblox/include/voxblox/mesh/mesh_layer.h b/voxblox/include/voxblox/mesh/mesh_layer.h
index 89d38e90b..4bcd4db9a 100644
--- a/voxblox/include/voxblox/mesh/mesh_layer.h
+++ b/voxblox/include/voxblox/mesh/mesh_layer.h
@@ -276,6 +276,21 @@ class MeshLayer {
 
   size_t getNumberOfAllocatedMeshes() const { return mesh_map_.size(); }
 
+  inline size_t getMemorySize() const {
+    size_t size_bytes = 0u;
+
+    // Calculate size of members
+    size_bytes += sizeof(block_size_);
+    size_bytes += sizeof(block_size_inv_);
+
+    // Calculate size of mesh blocks
+    for (const auto& idx_mesh_pair : mesh_map_) {
+      CHECK(idx_mesh_pair.second);
+      size_bytes += idx_mesh_pair.second->getMemorySize();
+    }
+    return size_bytes;
+  }
+
   /// Deletes ALL parts of the mesh.
   void clear() { mesh_map_.clear(); }