write/readBinary now return bool, just like read/write

octomap/include/octomap/AbstractOcTree.h

@@ -97,9 +97,9 @@ namespace octomap {
     static AbstractOcTree* read(std::istream &s);
     /// Read complete state of tree from stream
     virtual std::istream& readData(std::istream &s) = 0;
-    /// Write complete state of tree to stream, prune tree first (lossless compression)
+    /// Write complete state of tree to stream (without file header), prune tree first (lossless compression)
     virtual std::ostream& writeData(std::ostream &s) = 0;
-    /// Write complete state of tree to stream, no pruning (const version)
+    /// Write complete state of tree to stream (without file header), no pruning (const version)
     virtual std::ostream& writeDataConst(std::ostream &s) const = 0;
   private:
     /// create private store, Construct on first use

octomap/include/octomap/OccupancyOcTreeBase.h

@@ -310,30 +310,48 @@ namespace octomap {
 
     // -- I/O  -----------------------------------------
 
-    /// Reads an OcTree from an input stream.
-    /// Existing nodes of the tree are deleted before the tree is read.
-    std::istream& readBinary(std::istream &s);
-
-    /// Writes OcTree to a binary stream.
-    /// The OcTree is first converted to the maximum likelihood estimate and pruned
-    /// for maximum compression.
-    std::ostream& writeBinary(std::ostream &s);
-
-    /// Writes the maximum likelihood OcTree to a binary stream (const variant).
-    /// Files will be smaller when the tree is pruned first or by using
-    /// writeBinary() instead.
-    std::ostream& writeBinaryConst(std::ostream &s) const;
-
-    /// Reads OcTree from a binary file.
-    /// Existing nodes of the tree are deleted before the tree is read.
+    /**
+     * Reads an OcTree from an input stream.
+     * Existing nodes of the tree are deleted before the tree is read.
+     * @return success of operation
+     */
+    bool readBinary(std::istream &s);
+
+    /**
+     * Writes compressed maximum likelihood OcTree to a binary stream.
+     * The OcTree is first converted to the maximum likelihood estimate and pruned
+     * for maximum compression.
+     * @return success of operation
+     */
+    bool writeBinary(std::ostream &s);
+
+    /**
+     * Writes the maximum likelihood OcTree to a binary stream (const variant).
+     * Files will be smaller when the tree is pruned first or by using
+     * writeBinary() instead.
+     * @return success of operation
+     */
+    bool writeBinaryConst(std::ostream &s) const;
+
+    /**
+     * Reads OcTree from a binary file.
+     * Existing nodes of the tree are deleted before the tree is read.
+     * @return success of operation
+     */
     bool readBinary(const std::string& filename);
 
-    /// Writes OcTree to a binary file using writeBinary().
-    /// The OcTree is first converted to the maximum likelihood estimate and pruned.
+    /**
+     * Writes OcTree to a binary file using writeBinary().
+     * The OcTree is first converted to the maximum likelihood estimate and pruned.
+     * @return success of operation
+     */
     bool writeBinary(const std::string& filename);
 
-    /// Writes OcTree to a binary file using writeBinaryConst().
-    /// The OcTree is not changed, in particular not pruned first.
+    /**
+     * Writes OcTree to a binary file using writeBinaryConst().
+     * The OcTree is not changed, in particular not pruned first.
+     * @return success of operation
+     */
     bool writeBinaryConst(const std::string& filename) const;
 
     /**

octomap/include/octomap/OccupancyOcTreeBase.hxx

@@ -698,9 +698,7 @@ namespace octomap {
       OCTOMAP_ERROR_STR("Filestream to "<< filename << " not open, nothing read.");
       return false;
     }
-    readBinary(binary_infile);
-    binary_infile.close();     
-    return true;
+    return readBinary(binary_infile);
   }
 
   template <class NODE>
@@ -734,7 +732,7 @@ namespace octomap {
 
 
   template <class NODE>
-  std::istream& OccupancyOcTreeBase<NODE>::readBinary(std::istream &s) {
+  bool OccupancyOcTreeBase<NODE>::readBinary(std::istream &s) {
 
     if (!s.good()){
       OCTOMAP_WARNING_STR("Input filestream not \"good\" in OcTree::readBinary");
@@ -749,7 +747,7 @@ namespace octomap {
     if (line.compare(0,AbstractOcTree::binaryFileHeader.length(), AbstractOcTree::binaryFileHeader) ==0){
       std::string id;
       if (!AbstractOcTree::readHeader(s, id, size, res))
-        return s;
+        return false;
 
       OCTOMAP_DEBUG_STR("Reading binary octree type "<< id);
     } else{ // try to read old binary format:
@@ -763,25 +761,23 @@ namespace octomap {
       }
       else {
         OCTOMAP_ERROR_STR("First line of OcTree file header does not start with \""<< AbstractOcTree::binaryFileHeader<<"\"");
-        return s;
+        return false;
       }
     }
     // otherwise: values are valid, stream is now at binary data!
     this->clear();
     this->setResolution(res);
 
-
-
-
     this->readBinaryNode(s, this->itsRoot);
     this->sizeChanged = true;
     this->tree_size = OcTreeBase<NODE>::calcNumNodes();  // compute number of nodes
 
     if (size != this->tree_size){
       OCTOMAP_ERROR("Tree size mismatch: # read nodes (%zu) != # expected nodes (%d)\n",this->tree_size, size);
+      return false;
     }
 
-    return s;
+    return true;
   }
 
   template <class NODE>
@@ -792,9 +788,7 @@ namespace octomap {
       OCTOMAP_ERROR_STR("Filestream to "<< filename << " not open, nothing written.");
       return false;
     }    
-    writeBinary(binary_outfile);
-    binary_outfile.close();
-    return true;
+    return writeBinary(binary_outfile);
   }
 
   template <class NODE>
@@ -811,7 +805,7 @@ namespace octomap {
   }
 
   template <class NODE>
-  std::ostream& OccupancyOcTreeBase<NODE>::writeBinary(std::ostream &s){
+  bool OccupancyOcTreeBase<NODE>::writeBinary(std::ostream &s){
 
     // convert to max likelihood first, this makes efficient pruning on binary data possible
     this->toMaxLikelihood();
@@ -820,7 +814,7 @@ namespace octomap {
   }
 
   template <class NODE>
-  std::ostream& OccupancyOcTreeBase<NODE>::writeBinaryConst(std::ostream &s) const{
+  bool OccupancyOcTreeBase<NODE>::writeBinaryConst(std::ostream &s) const{
     // write new header first:
     s << AbstractOcTree::binaryFileHeader <<"\n# (feel free to add / change comments, but leave the first line as it is!)\n#\n";
     s << "id " << this->getTreeType() << std::endl;
@@ -830,8 +824,13 @@ namespace octomap {
 
     OCTOMAP_DEBUG_STR("Writing " << this->size() << " nodes to output stream...");
     this->writeBinaryNode(s, this->itsRoot);
-    OCTOMAP_DEBUG_STR(" done.");
-    return s;
+    if (s.good()){
+      OCTOMAP_DEBUG_STR(" done.");
+      return true;
+    } else {
+      OCTOMAP_WARNING_STR("Output stream not \"good\" after writing tree");
+      return false;
+    }
   }
 
   template <class NODE>

octomap/src/convert_octree.cpp

@@ -88,9 +88,8 @@ int main(int argc, char** argv) {
   // reading binary:
   if (inputFilename.length() > 3 && (inputFilename.compare(inputFilename.length()-3, 3, ".bt") == 0)){
     OcTree* binaryTree = new OcTree(0.1);
-    binaryTree->readBinary(file);
 
-    if (binaryTree->size() > 1)
+    if (binaryTree->readBinary(file) && binaryTree->size() > 1)
       tree = binaryTree;
     else {
       OCTOMAP_ERROR_STR("Could not detect binary OcTree format in file.");