Use ZStd compression by default (for MRPT>=2.15.7)

[jlblancoc]

Summary by CodeRabbit

Release Notes

• Bug Fixes

  • Added error validation for file save operations; failures are now reported with error messages instead of silently failing.

• New Features

  • Added timing measurements for map loading and reading operations, displayed in output.
  • Added compression method configuration option for saving metric map files (supported in newer MRPT versions).

• Chores

  • Updated codebase for compatibility with newer MRPT library versions.

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📝 Walkthrough

Walkthrough

This PR introduces MRPT version-gated compression support across the codebase, enabling newer CCompressedInputStream/CCompressedOutputStream APIs (MRPT >= 0x020f07) while maintaining backward compatibility with legacy CFileGZInputStream/CFileGZOutputStream. Command-line applications gain error handling for save operations and timing instrumentation for map loading.

Changes

Cohort / File(s)	Summary
Error handling in save operations apps/icp-log-viewer/main.cpp, apps/mm-georef/main.cpp	Added return value checks for save_to_file() with error messages on failure.
Formatting and structural updates apps/kitti2mm/main.cpp	Wrapped single-line if blocks with braces for consistency without altering control flow.
Timing instrumentation apps/mm-info/main.cpp, apps/mm2txt/main.cpp	Added elapsed time measurement and reporting around map loading operations.
Version-gated compression in command-line tools apps/rawlog-filter/main.cpp	Conditional stream selection using CCompressedOutputStream (MRPT >= 0x020f07) or CFileGZOutputStream, with version-based header includes.
Compression method CLI option apps/sm2mm/main.cpp	Added compression-method CLI argument for MRPT >= 0x020f07; integrated timing instrumentation and conditional compression options during save.
LogRecord compression API updates mp2p_icp/include/mp2p_icp/LogRecord.h, mp2p_icp/src/LogRecord.cpp	Removed explicit destructor; added overloaded save_to_file() with optional CompressionOptions parameter (MRPT >= 0x020f07); updated I/O streams with version-gated conditional compilation.
metric_map_t compression API updates mp2p_icp_map/include/mp2p_icp/metricmap.h, mp2p_icp_map/src/metricmap.cpp	Extended save_to_file() and load_from_file() with version-gated compressed I/O streams and added CompressionOptions parameter overload (MRPT >= 0x020f07).
Version-gated I/O in map loading mp2p_icp_map/src/load_xyz_file.cpp	Introduced conditional stream selection between CCompressedInputStream (MRPT >= 0x020f07) and CFileGZInputStream for gzip file handling.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~25 minutes

Possibly related PRs

• Feat/sm2mm-new-options #33: Modifies CLI structure in apps/sm2mm/main.cpp; the current PR adds the arg_compression_method field to this same CLI struct, indicating direct code-level dependency.

Poem

🐰 Across the codebase hops a change so grand,
Compression springs forth with MRPT's command,
Version-gated paths both new and old,
Files saved faster than a rabbit can scold!
Errors are caught, times are measured with care. ⏱️✨

🚥 Pre-merge checks | ✅ 2 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 26.67% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (2 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The PR title accurately describes the main change: introducing ZStd compression as the default for MRPT versions 2.15.7 and above, which is the primary objective across multiple files.

_{✏️ Tip: You can configure your own custom pre-merge checks in the settings.}

✨ Finishing touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch feat/use-zstd

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[coderabbitai]

Actionable comments posted: 1

Caution

Some comments are outside the diff and can’t be posted inline due to platform limitations.

⚠️ Outside diff range comments (1)

mp2p_icp/src/LogRecord.cpp (1)

149-153: ⚠️ Potential issue | 🟡 Minor

Copy-paste error in error message.

The error message incorrectly references save_to_file when this is the load_from_file function.

Proposed fix

     catch (const std::exception& e)
     {
-        std::cerr << "[LogRecord::save_to_file] Error: " << e.what();
+        std::cerr << "[LogRecord::load_from_file] Error: " << e.what();
         return false;
     }

🤖 Fix all issues with AI agents

In `@apps/sm2mm/main.cpp`:
- Around line 74-85: The CLI help/default for arg_compression_method uses scoped
enum names like "CompressionType::Zstd" but
TEnumType<CompressionType>::name2value() expects unscoped names (e.g., "Zstd"),
causing parse failures; update the TCLAP::ValueArg<std::string>
arg_compression_method to use unscoped names in both the help/options list and
the default (e.g., "Zstd", "Gzip", "None") or alternatively normalize the input
before parsing by stripping any "CompressionType::" prefix when resolving via
TEnumType<CompressionType>::name2value(); adjust the help text to list the
unscoped enum identifiers to match the parser.

🧹 Nitpick comments (2)

mp2p_icp_map/src/metricmap.cpp (1)

630-642: Consider catching serialization exceptions to honor the bool contract.
save_to_file() now returns a bool that callers check; uncaught exceptions will still abort the caller. Align with LogRecord::save_to_file() by returning false on exceptions.

Suggested change (guard serialization and return false on errors)

 bool metric_map_t::save_to_file(
 `#if` MRPT_VERSION >= 0x020f07
     const std::string& fileName, const mrpt::io::CompressionOptions& co
 `#else`
     const std::string& fileName
 `#endif`
 ) const
 {
 `#if` MRPT_VERSION >= 0x020f07
     auto f = mrpt::io::CCompressedOutputStream(fileName, mrpt::io::OpenMode::TRUNCATE, co);
 `#else`
     auto f = mrpt::io::CFileGZOutputStream(fileName);
 `#endif`
     if (!f.is_open())
     {
         return false;
     }
 
-    auto arch = mrpt::serialization::archiveFrom(f);
-    arch << *this;
+    try
+    {
+        auto arch = mrpt::serialization::archiveFrom(f);
+        arch << *this;
+    }
+    catch (const std::exception& e)
+    {
+        std::cerr << "[metric_map_t::save_to_file] Error: " << e.what();
+        return false;
+    }
 
     return true;
 }

apps/sm2mm/main.cpp (1)

137-145: Avoid relying on transitive includes for mrpt::Clock.
Please verify that a direct header provides mrpt::Clock::nowDouble(); if not, include the appropriate MRPT header explicitly to keep this compile‑safe.