std::ostream& OcTreePCL::writeBinary(std::ostream &s){
// format: treetype | resolution | num nodes | [binary nodes]
this->toMaxLikelihood();
this->prune();
return writeBinaryConst(s);
}
bool AbstractOccupancyOcTree::writeBinaryConst(const std::string& filename) const{
std::ofstream binary_outfile( filename.c_str(), std::ios_base::binary);
if (!binary_outfile.is_open()){
OCTOMAP_ERROR_STR("Filestream to "<< filename << " not open, nothing written.");
return false;
}
writeBinaryConst(binary_outfile);
binary_outfile.close();
return true;
}
void OcTreePCL::writeBinaryConst(const std::string& filename) const{
std::ofstream binary_outfile( filename.c_str(), std::ios_base::binary);
if (!binary_outfile.is_open()){
std::cerr << "ERROR: Filestream to "<< filename << " not open, nothing written.\n";
return;
}
else {
writeBinaryConst(binary_outfile);
binary_outfile.close();
}
}
bool AbstractOccupancyOcTree::writeBinary(std::ostream &s){
// convert to max likelihood first, this makes efficient pruning on binary data possible
this->toMaxLikelihood();
this->prune();
return writeBinaryConst(s);
}