std::ostream& Pointcloud::writeBinary(std::ostream &s) const {
size_t pc_size = this->size();
OCTOMAP_DEBUG("Writing %d points to binary file...", pc_size);
s.write((char*)&pc_size, sizeof(pc_size));
for (Pointcloud::const_iterator it = this->begin(); it != this->end(); it++) {
it->writeBinary(s);
}
OCTOMAP_DEBUG("done.\n");
return s;
}
std::ostream& Pointcloud::writeBinary(std::ostream &s) const {
// check if written unsigned int can hold size
size_t orig_size = this->size();
if (orig_size > std::numeric_limits<uint32_t>::max()){
OCTOMAP_ERROR("Pointcloud::writeBinary ERROR: Point cloud too large to be written");
return s;
}
uint32_t pc_size = static_cast<uint32_t>(this->size());
OCTOMAP_DEBUG("Writing %u points to binary file...", pc_size);
s.write((char*)&pc_size, sizeof(pc_size));
for (Pointcloud::const_iterator it = this->begin(); it != this->end(); it++) {
it->writeBinary(s);
}
OCTOMAP_DEBUG("done.\n");
return s;
}