feature/more-code-analysis-tools (#17)

.gitignore

@@ -48,6 +48,8 @@ compile_commands.json
 CTestTestfile.cmake
 _deps
 build
+Release
+Debug
 
 ###################################
 

CMakeLists.txt

@@ -3,8 +3,6 @@ project(MC-Calib)
 
 add_definitions(-std=c++14)
 set(CMAKE_CXX_FLAGS "-std=c++14") # required for Ceres https://github.com/colmap/colmap/issues/905#issuecomment-731138700
-set(CMAKE_BUILD_TYPE Release)
-set(DCMAKE_BUILD_TYPE Release)
 set(CMAKE_CONFIGURATION_TYPES ${CMAKE_BUILD_TYPE} CACHE STRING "" FORCE)
 
 find_package(OpenCV REQUIRED)
@@ -28,10 +26,12 @@ if(NOT TARGET Boost::filesystem)
         INTERFACE_LINK_LIBRARIES ${Boost_LIBRARIES})
 endif()
 
-
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse3")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
 
+# sanitizers https://www.jetbrains.com/help/clion/google-sanitizers.html#Configuration
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address,leak")
+
 include_directories(
 	include
 	/usr/include/opencv

README.md

@@ -67,7 +67,7 @@ Then the following should do the job of compiling the code:
    ```bash
    mkdir build
    cd build
-   cmake ..
+   cmake -DCMAKE_BUILD_TYPE=Release ..
    make -j10  
    ```
 

docs/contributing.rst

@@ -34,13 +34,31 @@ Extract that and place (or symlink) Blender_Images folder under MC-Calib/data/.
 
     mkdir build
     cd build
+    cmake -DCMAKE_BUILD_TYPE=Debug ..
     ./tests/boost_tests_run
 
-6. Perform valgrind test and fix introduced memory leaks:
+6. Run static analysis tools and fix introduced dangerous code constructs:
 
 .. code-block:: bash
 
     cd build
+    apt install cppcheck
+    cppcheck ../src
+
+    # known errors:
+    logger.h:19:1: error: There is an unknown macro here somewhere. Configuration is required. If BOOST_LOG_GLOBAL_LOGGER is a macro then please configure it. [unknownMacro] BOOST_LOG_GLOBAL_LOGGER(logger, boost::log::sources::severity_logger_mt<boost::log::trivial::severity_level>)
+    ##############
+
+    apt install clang-tidy
+    cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Debug ..
+    run-clang-tidy
+
+
+
+7. Perform valgrind test and fix introduced memory leaks:
+
+.. code-block:: bash
+
     apt update
     apt install valgrind
     valgrind --leak-check=full \
@@ -57,14 +75,14 @@ Extract that and place (or symlink) Blender_Images folder under MC-Calib/data/.
       ./calibrate ../tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml
 
     # current state of this repository:
-    ==1204== LEAK SUMMARY:
-    ==1204==    definitely lost: 0 bytes in 0 blocks
-    ==1204==    indirectly lost: 0 bytes in 0 blocks
-    ==1204==      possibly lost: 0 bytes in 0 blocks
-    ==1204==    still reachable: 0 bytes in 0 blocks
-    ==1204==         suppressed: 419,953 bytes in 3,712 blocks
-
-7. Create pull request.
+    ==6274== LEAK SUMMARY:
+    ==6274==    definitely lost: 0 bytes in 0 blocks
+    ==6274==    indirectly lost: 0 bytes in 0 blocks
+    ==6274==      possibly lost: 0 bytes in 0 blocks
+    ==6274==    still reachable: 0 bytes in 0 blocks
+    ==6274==         suppressed: 420,593 bytes in 3,714 blocks
+
+8. Create pull request.
 
 
 Naming convention:

src/Calibration.cpp

@@ -541,7 +541,7 @@ void Calibration::computeReproErrAllBoard() {
   std::vector<float> err_vec;
   float sum_err = 0;
   for (const auto &it : board_observations_) {
-    float err = it.second->computeReprojectionError();
+    std::ignore = it.second->computeReprojectionError();
   }
 }
 
@@ -978,14 +978,10 @@ void Calibration::initCameraGroupObs(const int camera_group_idx) {
       auto obj_obs_ptr = it_obj_obs.second.lock();
       if (obj_obs_ptr) {
         int current_cam_id = obj_obs_ptr->camera_id_;
-        int current_obj_id = obj_obs_ptr->object_3d_id_;
 
         // Check if this camera id belongs to the group
         if (std::find(cam_in_group.begin(), cam_in_group.end(),
                       current_cam_id) != cam_in_group.end()) {
-          // if (count(cam_in_group.begin(), cam_in_group.end(),
-          // current_cam_id))
-          // {
           // the camera is in the group so this object is visible in the cam
           // group udpate the observation
           new_cam_group_obs->insertObjectObservation(obj_obs_ptr);

src/OptimizationCeres.h

@@ -277,7 +277,9 @@ struct ReprojectionError_CameraGroupRef {
 
     // 2. Refine the camera if it is not the referential
     if (refine_camera != 0) {
-      ceres::AngleAxisRotatePoint(camera, pobj, pobj);
+      T pobj_refine[3];
+      ceres::AngleAxisRotatePoint(camera, pobj, pobj_refine);
+      std::copy_n(pobj_refine, 3, pobj);
       pobj[0] += camera[3];
       pobj[1] += camera[4];
       pobj[2] += camera[5];
@@ -398,7 +400,9 @@ struct ReprojectionError_CameraGroupAndObjectRef {
     // 1. Apply the board transformation in teh object
     T point[3] = {T(x), T(y), T(z)};
     if (refine_board != 0) {
-      ceres::AngleAxisRotatePoint(board_pose, point, point);
+      T point_refine[3];
+      ceres::AngleAxisRotatePoint(board_pose, point, point_refine);
+      std::copy_n(point_refine, 3, point);
       point[0] += board_pose[3];
       point[1] += board_pose[4];
       point[2] += board_pose[5];
@@ -414,7 +418,9 @@ struct ReprojectionError_CameraGroupAndObjectRef {
 
     // 3. Refine the camera if it is not the referential
     if (refine_camera != 0) {
-      ceres::AngleAxisRotatePoint(camera, pobj, pobj);
+      T pobj_refine[3];
+      ceres::AngleAxisRotatePoint(camera, pobj, pobj_refine);
+      std::copy_n(pobj_refine, 3, pobj);
       pobj[0] += camera[3];
       pobj[1] += camera[4];
       pobj[2] += camera[5];
@@ -545,7 +551,9 @@ struct ReprojectionError_CameraGroupAndObjectRefAndIntrinsics {
     // 1. Apply the board transformation in teh object
     T point[3] = {T(x), T(y), T(z)};
     if (refine_board != 0) {
-      ceres::AngleAxisRotatePoint(board_pose, point, point);
+      T point_refine[3];
+      ceres::AngleAxisRotatePoint(board_pose, point, point_refine);
+      std::copy_n(point_refine, 3, point);
       point[0] += board_pose[3];
       point[1] += board_pose[4];
       point[2] += board_pose[5];
@@ -561,7 +569,9 @@ struct ReprojectionError_CameraGroupAndObjectRefAndIntrinsics {
 
     // 3. Refine the camera if it is not the referential
     if (refine_camera != 0) {
-      ceres::AngleAxisRotatePoint(camera, pobj, pobj);
+      T pobj_refine[3];
+      ceres::AngleAxisRotatePoint(camera, pobj, pobj_refine);
+      std::copy_n(pobj_refine, 3, pobj);
       pobj[0] += camera[3];
       pobj[1] += camera[4];
       pobj[2] += camera[5];

src/geometrytools.cpp

@@ -302,7 +302,7 @@ cv::Mat ransacP3P(const std::vector<cv::Point3f> &scenePoints,
     countit++;
   }
 
-  if (refine == true & (BestInNb >= 4)) {
+  if (refine == true && BestInNb >= 4) {
     std::vector<cv::Point3f> scenePointsInliers(BestInNb);
     std::vector<cv::Point2f> imagePointsInliers(BestInNb);
 
@@ -419,7 +419,7 @@ cv::Mat handeyeBootstratpTranslationCalibration(
   cv::Mat labels;
   cv::Mat centers;
   int nb_kmean_iterations = 5;
-  double compactness =
+  std::ignore =
       cv::kmeans(position_1_2, nb_cluster, labels,
                  cv::TermCriteria(
                      cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 10, 0.01),

src/logger.h

@@ -20,15 +20,15 @@ BOOST_LOG_GLOBAL_LOGGER(logger, boost::log::sources::severity_logger_mt<
                                     boost::log::trivial::severity_level>)
 
 // just a helper macro used by the macros below - don't use it in your code
-#define LOG(severity)                                                          \
+#define LOG_AT_SEVERITY(severity)                                              \
   BOOST_LOG_SEV(logger::get(), boost::log::trivial::severity)
 
 // ===== log macros =====
-#define LOG_TRACE LOG(trace)
-#define LOG_DEBUG LOG(debug)
-#define LOG_INFO LOG(info)
-#define LOG_WARNING LOG(warning)
-#define LOG_ERROR LOG(error)
-#define LOG_FATAL LOG(fatal)
+#define LOG_TRACE LOG_AT_SEVERITY(trace)
+#define LOG_DEBUG LOG_AT_SEVERITY(debug)
+#define LOG_INFO LOG_AT_SEVERITY(info)
+#define LOG_WARNING LOG_AT_SEVERITY(warning)
+#define LOG_ERROR LOG_AT_SEVERITY(error)
+#define LOG_FATAL LOG_AT_SEVERITY(fatal)
 
 #endif