Add support for OpenCV > v4.6.0 (#88) #219
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| name: CI | |
| # Controls when the action will run. | |
| on: | |
| # Triggers the workflow on push or pull request events but only for the master branch | |
| push: | |
| branches: [ master ] | |
| pull_request: | |
| branches: [ master ] | |
| types: | |
| - opened | |
| - reopened | |
| - synchronize | |
| - ready_for_review | |
| # Allows you to run this workflow manually from the Actions tab | |
| workflow_dispatch: | |
| env: | |
| MC_CALIB_PROD_DOCKER_IMG: bailool/mc-calib-prod:opencv4100 | |
| MC_CALIB_DEV_DOCKER_IMG: bailool/mc-calib-dev:opencv4100 | |
| # A workflow run is made up of one or more jobs that can run sequentially or in parallel | |
| jobs: | |
| clang-format-lint: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 # required to mount the Github Workspace to a volume | |
| - name: Run clang-format-lint | |
| uses: DoozyX/[email protected] | |
| with: | |
| source: '.' | |
| exclude: './third_party ./external .git' | |
| extensions: 'h,cpp' | |
| clangFormatVersion: 11 | |
| cppcheck: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Run cppcheck | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: ${{env.MC_CALIB_DEV_DOCKER_IMG}} | |
| options: -v ${{ github.workspace }}:/home/MC-Calib | |
| run: | | |
| cppcheck MC-Calib/McCalib/include | |
| cppcheck MC-Calib/McCalib/src | |
| clang-tidy: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Run clang-tidy | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: ${{env.MC_CALIB_DEV_DOCKER_IMG}} | |
| options: -v ${{ github.workspace }}:/home/MC-Calib | |
| run: | | |
| mkdir MC-Calib/build && cd MC-Calib/build | |
| cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Debug .. | |
| run-clang-tidy | |
| test-charuco-boards-generation: | |
| runs-on: ubuntu-latest | |
| needs: | |
| - clang-format-lint | |
| - cppcheck | |
| - clang-tidy | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Run charuco boards generation app | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: ${{env.MC_CALIB_PROD_DOCKER_IMG}} | |
| options: -v ${{ github.workspace }}:/home/MC-Calib:rw | |
| run: | | |
| mkdir MC-Calib/build && cd MC-Calib/build | |
| cmake -DCMAKE_BUILD_TYPE=Release .. | |
| make -j4 | |
| ./apps/create_charuco_boards/generate_charuco ../tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml | |
| - name: Archive results artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: charuco_boards | |
| path: ${{ github.workspace }}/build/charuco_boards | |
| unit-tests-with-sanitizers: | |
| if: ${{ false }} # TODO: disable for now until understand how to suppress leaks from external libraries like OpenCV | |
| runs-on: ubuntu-latest | |
| needs: | |
| - clang-format-lint | |
| - cppcheck | |
| - clang-tidy | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Checkout MC-Calib-data | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: BAILOOL/MC-Calib-data | |
| path: ${{ github.workspace }}/data | |
| lfs: 'true' | |
| - name: Unzip MC-Calib-data | |
| run: tar xf ${{ github.workspace }}/data/Blender_Images.tar.gz -C ${{ github.workspace }}/data | |
| - name: Run tests | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: ${{env.MC_CALIB_DEV_DOCKER_IMG}} | |
| options: -v ${{ github.workspace }}:/home/MC-Calib | |
| run: | | |
| mkdir MC-Calib/build && cd MC-Calib/build | |
| cmake -DCMAKE_BUILD_TYPE=Debug -DUSE_SANITIZERS=ON .. | |
| make -j4 | |
| ./tests/boost_tests_run | |
| unit-tests-with-valgrind: | |
| runs-on: ubuntu-latest | |
| needs: | |
| - clang-format-lint | |
| - cppcheck | |
| - clang-tidy | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Checkout MC-Calib-data | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: BAILOOL/MC-Calib-data | |
| path: ${{ github.workspace }}/data | |
| lfs: 'true' | |
| - name: Unzip MC-Calib-data | |
| run: tar xf ${{ github.workspace }}/data/Blender_Images.tar.gz -C ${{ github.workspace }}/data | |
| - name: Run tests | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: ${{env.MC_CALIB_DEV_DOCKER_IMG}} | |
| options: -v ${{ github.workspace }}:/home/MC-Calib | |
| run: | | |
| mkdir MC-Calib/build && cd MC-Calib/build | |
| cmake -DCMAKE_BUILD_TYPE=Debug -DUSE_SANITIZERS=OFF .. | |
| make -j4 | |
| valgrind --leak-check=full \ | |
| --leak-check=full \ | |
| --track-origins=yes \ | |
| --show-reachable=yes \ | |
| --error-limit=no \ | |
| --gen-suppressions=all \ | |
| --verbose \ | |
| --log-file=valgrind-out.txt \ | |
| --suppressions=../tests/valgrind_suppress/opencv_valgrind.supp \ | |
| --suppressions=../tests/valgrind_suppress/opencv_valgrind_3rdparty.supp \ | |
| --suppressions=../tests/valgrind_suppress/boost_valgrind.supp \ | |
| ./apps/calibrate/calibrate ../tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml | |
| unit-tests-in-release-mode-opencv4100: | |
| runs-on: ubuntu-latest | |
| needs: | |
| - clang-format-lint | |
| - cppcheck | |
| - clang-tidy | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Checkout MC-Calib-data | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: BAILOOL/MC-Calib-data | |
| path: ${{ github.workspace }}/data | |
| lfs: 'true' | |
| - name: Unzip MC-Calib-data | |
| run: tar xf ${{ github.workspace }}/data/Blender_Images.tar.gz -C ${{ github.workspace }}/data | |
| - name: Run tests | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: ${{env.MC_CALIB_PROD_DOCKER_IMG}} | |
| options: -v ${{ github.workspace }}:/home/MC-Calib:rw | |
| run: | | |
| mkdir MC-Calib/build && cd MC-Calib/build | |
| cmake -DCMAKE_BUILD_TYPE=Release .. | |
| make -j4 | |
| ./tests/boost_tests_run | |
| - name: Collect results | |
| run: | | |
| cd ${{ github.workspace }}/data/Blender_Images | |
| mkdir Results_Blender_Sequences | |
| mkdir Results_Blender_Sequences/Scenario_1 | |
| cp -r Scenario_1/Results Results_Blender_Sequences/Scenario_1 | |
| cp Scenario_1/GroundTruth.yml Results_Blender_Sequences/Scenario_1 | |
| mkdir Results_Blender_Sequences/Scenario_2 | |
| cp -r Scenario_2/Results Results_Blender_Sequences/Scenario_2 | |
| cp Scenario_2/GroundTruth.yml Results_Blender_Sequences/Scenario_2 | |
| mkdir Results_Blender_Sequences/Scenario_3 | |
| cp -r Scenario_3/Results Results_Blender_Sequences/Scenario_3 | |
| cp Scenario_3/GroundTruth.yml Results_Blender_Sequences/Scenario_3 | |
| mkdir Results_Blender_Sequences/Scenario_4 | |
| cp -r Scenario_4/Results Results_Blender_Sequences/Scenario_4 | |
| cp Scenario_4/GroundTruth.yml Results_Blender_Sequences/Scenario_4 | |
| mkdir Results_Blender_Sequences/Scenario_5 | |
| cp -r Scenario_5/Results Results_Blender_Sequences/Scenario_5 | |
| cp Scenario_5/GroundTruth.yml Results_Blender_Sequences/Scenario_5 | |
| - name: Archive results artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: results_blender_sequences | |
| path: ${{ github.workspace }}/data/Blender_Images/Results_Blender_Sequences | |
| unit-tests-in-release-mode-opencv455: | |
| runs-on: ubuntu-latest | |
| needs: | |
| - clang-format-lint | |
| - cppcheck | |
| - clang-tidy | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Checkout MC-Calib-data | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: BAILOOL/MC-Calib-data | |
| path: ${{ github.workspace }}/data | |
| lfs: 'true' | |
| - name: Unzip MC-Calib-data | |
| run: tar xf ${{ github.workspace }}/data/Blender_Images.tar.gz -C ${{ github.workspace }}/data | |
| - name: Run tests | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: bailool/mc-calib-prod:opencv455 | |
| options: -v ${{ github.workspace }}:/home/MC-Calib:rw | |
| run: | | |
| mkdir MC-Calib/build && cd MC-Calib/build | |
| cmake -DCMAKE_BUILD_TYPE=Release .. | |
| make -j4 | |
| ./tests/boost_tests_run | |
| unit-tests-in-release-mode-opencv420: | |
| runs-on: ubuntu-latest | |
| needs: | |
| - clang-format-lint | |
| - cppcheck | |
| - clang-tidy | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Checkout MC-Calib-data | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: BAILOOL/MC-Calib-data | |
| path: ${{ github.workspace }}/data | |
| lfs: 'true' | |
| - name: Unzip MC-Calib-data | |
| run: tar xf ${{ github.workspace }}/data/Blender_Images.tar.gz -C ${{ github.workspace }}/data | |
| - name: Run tests | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: bailool/mc-calib-prod:opencv420 | |
| options: -v ${{ github.workspace }}:/home/MC-Calib:rw | |
| run: | | |
| mkdir MC-Calib/build && cd MC-Calib/build | |
| cmake -DCMAKE_BUILD_TYPE=Release .. | |
| make -j4 | |
| ./tests/boost_tests_run | |
| code-coverage-testing: | |
| runs-on: ubuntu-latest | |
| needs: | |
| - clang-format-lint | |
| - cppcheck | |
| - clang-tidy | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Checkout MC-Calib-data | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: BAILOOL/MC-Calib-data | |
| path: ${{ github.workspace }}/data | |
| lfs: 'true' | |
| - name: Unzip MC-Calib-data | |
| run: tar xf ${{ github.workspace }}/data/Blender_Images.tar.gz -C ${{ github.workspace }}/data | |
| - name: Run tests | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: ${{env.MC_CALIB_DEV_DOCKER_IMG}} | |
| options: -v ${{ github.workspace }}:${{ github.workspace }} | |
| run: | | |
| mkdir ${{ github.workspace }}/build && cd ${{ github.workspace }}/build | |
| cmake -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=true .. | |
| make -j4 | |
| ./tests/boost_tests_run && make coverage | |
| - name: Upload code coverage results | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: code-coverage-report | |
| path: ${{ github.workspace }}/build/coverage | |
| - name: Setup LCOV for report to PR | |
| uses: hrishikesh-kadam/setup-lcov@v1 | |
| - name: Report code coverage to PR | |
| uses: zgosalvez/github-actions-report-lcov@v3 | |
| with: | |
| coverage-files: build/coverage.info | |
| minimum-coverage: 77 | |
| artifact-name: code-coverage-report-with-github-actions | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| update-comment: true | |
| python-utils-linters: | |
| runs-on: ubuntu-latest | |
| needs: | |
| - unit-tests-in-release-mode-opencv4100 | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Run python linters | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: ${{env.MC_CALIB_DEV_DOCKER_IMG}} | |
| options: -v ${{ github.workspace }}:/home/MC-Calib | |
| run: | | |
| cd MC-Calib/python_utils | |
| ./format.sh | |
| ./test.sh | |
| python-utils: | |
| runs-on: ubuntu-latest | |
| needs: | |
| - python-utils-linters | |
| - unit-tests-in-release-mode-opencv4100 | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Download calibration results | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: results_blender_sequences | |
| path: ${{ github.workspace }}/data | |
| - name: Run python utils | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: ${{env.MC_CALIB_PROD_DOCKER_IMG}} | |
| options: -v ${{ github.workspace }}:/home/MC-Calib:rw | |
| run: | | |
| cd MC-Calib/python_utils | |
| python3 post_calibration_analysis.py -d /home/MC-Calib/data/Scenario_1/Results/ /home/MC-Calib/data/Scenario_2/Results/ /home/MC-Calib/data/Scenario_3/Results/ /home/MC-Calib/data/Scenario_4/Results/ /home/MC-Calib/data/Scenario_5/Results/ | |
| - name: Archive results artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: results_blender_sequences_with_python_utils | |
| path: ${{ github.workspace }}/data |