Improving CI pipeline with more steps

.github/workflows/main.yml

@@ -1,5 +1,3 @@
-# This is a basic workflow to help you get started with Actions
-
 name: CI
 
 # Controls when the action will run. 
@@ -9,23 +7,168 @@ on:
     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:
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
-  # This workflow contains a single job called "build"
-  build:
-    # The type of runner that the job will run on
+  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: bailool/mc-calib-dev:latest
+          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
 
-    # Steps represent a sequence of tasks that will be executed as part of the job
+      - name: Run clang-tidy
+        uses: addnab/docker-run-action@v3
+        with:
+          image: bailool/mc-calib-dev:latest
+          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
+
+
+  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:
-    - uses: actions/checkout@v2
-    - uses: DoozyX/[email protected]
-      with:
-        source: '.'
-        exclude: './third_party ./external .git'
-        extensions: 'h,cpp'
-        clangFormatVersion: 11
+      - 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-dev:latest
+          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: bailool/mc-calib-dev:latest
+          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:
+    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:latest
+          options: -v ${{ github.workspace }}:/home/MC-Calib
+          run: |
+            mkdir MC-Calib/build && cd MC-Calib/build
+            cmake -DCMAKE_BUILD_TYPE=Release ..
+            make -j4
+            ./tests/boost_tests_run

CMakeLists.txt

@@ -38,7 +38,7 @@ add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 
 if(USE_SANITIZERS)
     # sanitizers https://www.jetbrains.com/help/clion/google-sanitizers.html#Configuration
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address,leak")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address")
 endif()
 
 include_directories(

McCalib/src/McCalib.cpp

@@ -251,6 +251,10 @@ void Calibration::detectBoardsWithCamera(const std::vector<cv::String> &fn,
   std::size_t num_frames = fn.size();
   if (num_frames > 0u) {
     cv::Mat image = cv::imread(fn[0]);
+    if (image.empty()) {
+      LOG_ERROR << "Could not read the image :: " << fn[0];
+      assert((!image.empty()) && "Calibration cannot be done");
+    }
     cams_[cam_idx]->im_cols_ = image.cols;
     cams_[cam_idx]->im_rows_ = image.rows;
   }
@@ -278,12 +282,16 @@ void Calibration::detectBoardsInImageWithCamera(const std::string frame_path,
                                                 const int cam_idx,
                                                 const int frame_idx) {
   cv::Mat image = cv::imread(frame_path);
+  if (image.empty()) {
+    LOG_ERROR << "Could not read the image :: " << frame_path;
+    return;
+  }
+
   // Greyscale image for subpixel refinement
   cv::Mat graymat;
   cv::cvtColor(image, graymat, cv::COLOR_BGR2GRAY);
 
   // Datastructure to save the checkerboard corners
-
   // key == board id, value == markersIDs on MARKERS markerIds
   std::map<int, std::vector<int>> marker_idx;
   // key == board id, value == 2d points visualized on MARKERS