mm-info, mm2grid, mm2las, mm2ply, mm2txt now have a --load-plugins flag

[jlblancoc]

Summary by CodeRabbit

• New Features

  • Added --load-plugins/-l to multiple CLI tools (mm-info, mm2grid, mm2las, mm2ply, mm2txt, rawlog-filter) to load comma-separated plugin .so files at startup; tools now report the plugin list before processing.

• Bug Fixes

  • Added missing exception headers to several binaries and tests to ensure proper runtime error reporting when plugin loading or other errors occur.

• Documentation

  • Updated CLI docs for all affected tools to describe the new plugin-loading option.

[coderabbitai]

📝 Walkthrough

Walkthrough

Added a new optional CLI flag -l/--load-plugins to multiple tools that accepts comma-separated .so plugin paths; when set, plugins are loaded via mrpt::system::loadPluginModules() before existing metric-map/rawlog processing, and failure throws std::runtime_error. Several files also gained explicit <stdexcept> includes and a voxel-insertion consolidation.

Changes

Cohort / File(s)	Summary
Plugin Loading Implementation apps/mm-info/main.cpp, apps/mm2grid/main.cpp, apps/mm2las/main.cpp, apps/mm2ply/main.cpp, apps/mm2txt/main.cpp, apps/rawlog-filter/main.cpp	Added -l/--load-plugins CLI option; when set, prints plugin list and calls mrpt::system::loadPluginModules(plugins, errMsg) before map/rawlog processing. On failure throws std::runtime_error. Added #include <mrpt/system/os.h> where required.
Header/exception hygiene apps/mm-filter/main.cpp, apps/mm-georef/main.cpp, mp2p_icp_filters/src/FilterAbsoluteTimestamp.cpp, mp2p_icp_filters/src/FilterDeskew.cpp, mp2p_icp_filters/src/FilterSOR.cpp, tests/test-mp2p_quality_reproject_ranges.cpp, tests/test-mp2p_quality_voxels.cpp	Added #include <stdexcept> to ensure std::runtime_error is declared where exceptions are thrown. No behavioral changes.
Voxel insertion simplification mp2p_icp_filters/src/PointCloudToVoxelGridSingle.cpp	Replaced separate find() + operator[] pattern with single pts_voxels.try_emplace(...) call; update existing-key path to use iterator and inserted flag.
Documentation updates docs/source/app_mm-info.rst, docs/source/app_mm2grid.rst, docs/source/app_mm2las.rst, docs/source/app_mm2ply.rst, docs/source/app_mm2txt.rst	Documented new -l/--load-plugins <file.so> option in usage and arguments; noted plugins load before reading maps. Minor punctuation/formatting edits.

Sequence Diagram(s)

sequenceDiagram
    participant CLI as CLI
    participant App as App (e.g., mm2txt)
    participant Loader as Plugin Loader
    participant MRPT as mrpt::system
    participant Map as MetricMap/Rawlog loader

    CLI->>App: start with --load-plugins=<list>
    App->>Loader: parse plugin list
    Loader->>MRPT: mrpt::system::loadPluginModules(list)
    MRPT-->>Loader: success / failure (errMsg)
    alt failure
        Loader-->>App: throw std::runtime_error(errMsg)
        App-->>CLI: propagate error / exit
    else success
        App->>Map: proceed to load metric map / rawlog
        Map-->>App: loaded data
        App-->>CLI: continue existing processing/export
    end

Loading

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~20 minutes

Possibly related PRs

• Use ZStd compression by default (for MRPT>=2.15.7) #37: Modifies apps/mm-info/main.cpp and map-loading flow — closely related to the plugin-loading changes in that tool.
• Feat/new-filter-voxel-sor #27: Changes in mp2p_icp_filters/src/FilterSOR.cpp — touches the same filter source file where #include <stdexcept> was also added.

Poem

🐰
I nibble bytes and hop on keys,
Plugins loaded on the breeze,
.so friends join the little map,
Hopping code across the gap,
Now our tools can dance with ease!

🚥 Pre-merge checks | ✅ 2 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 33.33% 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 title accurately describes the main change: adding a --load-plugins flag to five specific CLI utilities (mm-info, mm2grid, mm2las, mm2ply, mm2txt).

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✨ Finishing Touches

📝 Generate docstrings

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch feat/mm-apps-plugins

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 78.62%. Comparing base (d7ff03d) to head (d0847ea).
⚠️ Report is 4 commits behind head on develop.

Additional details and impacted files

@@             Coverage Diff             @@
##           develop      #54      +/-   ##
===========================================
- Coverage    78.63%   78.62%   -0.01%     
===========================================
  Files          191      191              
  Lines        10632    10631       -1     
  Branches       982      982              
===========================================
- Hits          8360     8359       -1     
  Misses        2272     2272              

Files with missing lines	Coverage Δ
mp2p_icp_filters/src/FilterAbsoluteTimestamp.cpp	79.41% <ø> (ø)
mp2p_icp_filters/src/FilterDeskew.cpp	79.63% <ø> (ø)
mp2p_icp_filters/src/FilterSOR.cpp	94.28% <ø> (ø)
...2p_icp_filters/src/PointCloudToVoxelGridSingle.cpp	91.11% <100.00%> (ø)
tests/test-mp2p_quality_reproject_ranges.cpp	80.85% <ø> (ø)

... and 1 file with indirect coverage changes

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• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[jlblancoc]

@coderabbitai review

[coderabbitai]

✅ Actions performed

Review triggered.

Note: CodeRabbit is an incremental review system and does not re-review already reviewed commits. This command is applicable only when automatic reviews are paused.

[coderabbitai]

Actionable comments posted: 2

🤖 Prompt for all review comments with AI agents

Verify each finding against the current code and only fix it if needed.

Inline comments:
In `@apps/mm2grid/main.cpp`:
- Around line 94-104: The new throw site uses std::runtime_error but the
translation units lack the explicit header; add an `#include` <stdexcept> to each
CLI entrypoint that throws std::runtime_error (e.g., the file containing the
throw std::runtime_error(errMsg) in main.cpp and the sibling CLI entrypoints
that also throw runtime_error) so the symbol is declared explicitly and portable
across toolchains.

In `@apps/mm2txt/main.cpp`:
- Around line 71-74: The command-line short option `-l` is duplicated:
`TCLAP::ValueArg<std::string> arg_plugins` currently registers short flag "l"
for `--load-plugins` which collides with the existing `-l` used by `--layer`;
remove or change the short flag for `arg_plugins` (e.g., use no short flag by
passing an empty string "" as the short name or pick an unused short like "p")
so the constructor call for `arg_plugins` no longer uses "l", and update the
documentation in docs/source/app_mm2txt.rst to remove the `-l` from the
`--load-plugins` entry (or reflect whichever short flag you choose).

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: defaults

Review profile: CHILL

Plan: Pro

Run ID: a654e266-79f0-42bb-896b-1b70aa99e24e

📥 Commits

Reviewing files that changed from the base of the PR and between d7ff03d and c70ea5c.

📒 Files selected for processing (11)

• apps/mm-info/main.cpp
• apps/mm2grid/main.cpp
• apps/mm2las/main.cpp
• apps/mm2ply/main.cpp
• apps/mm2txt/main.cpp
• apps/rawlog-filter/main.cpp
• docs/source/app_mm-info.rst
• docs/source/app_mm2grid.rst
• docs/source/app_mm2las.rst
• docs/source/app_mm2ply.rst
• docs/source/app_mm2txt.rst

[coderabbitai]

🧹 Nitpick comments (1)

mp2p_icp_filters/src/PointCloudToVoxelGridSingle.cpp (1)

78-78: Remove unnecessary const_cast on mapped value.

At Line 78, it->second should already be mutable here; using const_cast adds avoidable risk and obscures intent. Prefer:
auto& vx = it->second;

🤖 Prompt for AI Agents

Verify each finding against the current code and only fix it if needed.

In `@mp2p_icp_filters/src/PointCloudToVoxelGridSingle.cpp` at line 78, The mapped
value is being forcibly cast mutable with const_cast on it->second to initialize
vx; remove the const_cast and bind directly with auto& vx = it->second to avoid
undefined behavior and clarify intent, and if the iterator variable it is a
const_iterator update its declaration to a non-const iterator so that it->second
is already mutable (adjust the loop or container access where it is created to
use iterator rather than const_iterator).

🤖 Prompt for all review comments with AI agents

Verify each finding against the current code and only fix it if needed.

Nitpick comments:
In `@mp2p_icp_filters/src/PointCloudToVoxelGridSingle.cpp`:
- Line 78: The mapped value is being forcibly cast mutable with const_cast on
it->second to initialize vx; remove the const_cast and bind directly with auto&
vx = it->second to avoid undefined behavior and clarify intent, and if the
iterator variable it is a const_iterator update its declaration to a non-const
iterator so that it->second is already mutable (adjust the loop or container
access where it is created to use iterator rather than const_iterator).

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: defaults

Review profile: CHILL

Plan: Pro

Run ID: 8a5d18ec-c136-428a-820b-d5fcc50607a8

📥 Commits

Reviewing files that changed from the base of the PR and between c70ea5c and d0847ea.

📒 Files selected for processing (19)

• apps/mm-filter/main.cpp
• apps/mm-georef/main.cpp
• apps/mm-info/main.cpp
• apps/mm2grid/main.cpp
• apps/mm2las/main.cpp
• apps/mm2ply/main.cpp
• apps/mm2txt/main.cpp
• apps/rawlog-filter/main.cpp
• docs/source/app_mm-info.rst
• docs/source/app_mm2grid.rst
• docs/source/app_mm2las.rst
• docs/source/app_mm2ply.rst
• docs/source/app_mm2txt.rst
• mp2p_icp_filters/src/FilterAbsoluteTimestamp.cpp
• mp2p_icp_filters/src/FilterDeskew.cpp
• mp2p_icp_filters/src/FilterSOR.cpp
• mp2p_icp_filters/src/PointCloudToVoxelGridSingle.cpp
• tests/test-mp2p_quality_reproject_ranges.cpp
• tests/test-mp2p_quality_voxels.cpp

✅ Files skipped from review due to trivial changes (12)

• tests/test-mp2p_quality_reproject_ranges.cpp
• apps/mm-filter/main.cpp
• apps/mm-georef/main.cpp
• docs/source/app_mm2grid.rst
• tests/test-mp2p_quality_voxels.cpp
• mp2p_icp_filters/src/FilterSOR.cpp
• mp2p_icp_filters/src/FilterAbsoluteTimestamp.cpp
• docs/source/app_mm2ply.rst
• docs/source/app_mm2las.rst
• docs/source/app_mm2txt.rst
• mp2p_icp_filters/src/FilterDeskew.cpp
• apps/rawlog-filter/main.cpp

🚧 Files skipped from review as they are similar to previous changes (3)

• docs/source/app_mm-info.rst
• apps/mm2ply/main.cpp
• apps/mm-info/main.cpp