diff --git a/CI/.gitlab-ci-for-lidarview.yml b/CI/.gitlab-ci-for-lidarview.yml
index 352fd582ce8f06ee5f19991e66d7e2eabb5c1315..a304f63f7555cd12c76aeef131d0c52553d36c61 100644
--- a/CI/.gitlab-ci-for-lidarview.yml
+++ b/CI/.gitlab-ci-for-lidarview.yml
@@ -15,15 +15,28 @@ variables:
   #   see https://gitlab.com/gitlab-org/gitlab-runner/issues/1280
   superbuild_build_dir: $CI_BUILDS_DIR/SB/$CI_PROJECT_NAME
   lidarview_build_dir: $CI_BUILDS_DIR/SB/$CI_PROJECT_NAME/$rel_path_to_lidarview_build_dir
+  # This variable should set only if the script is trigger from a LidarView submodule
+  # This will enable to run the pipeline with the updated module
+  TRIGGER_MODULE_PATH: '' # path of the module that trigger the pipeline relative to LidarView
+  TRIGGER_MODULE_SHA: '' # commit sha of the module that trigger the pipeline
 
 stages:
   - superbuild
+  - configure
+  - analyze
   - build
   - test
   - package
 
 # default parameters for all jobs, see https://docs.gitlab.com/ee/ci/yaml/#setting-default-parameters
 default:
+  before_script: &default_before_script_anchor
+    # TRIGGER_MODULE_PATH and TRIGGER_MODULE_SHA, should be empty if the CI is triggered from LidarView
+    # so the next fetching and checkout will basically do nothing.
+    # "$git checkout " is a glorified no-op (no operation), see https://git-scm.com/docs/git-checkout#Documentation/git-checkout.txt-emgitcheckoutemltbranchgt
+    - cd $CI_PROJECT_DIR/$TRIGGER_MODULE_PATH
+    - git fetch
+    - git checkout $TRIGGER_MODULE_SHA
   retry:
     max: 2
     when: runner_system_failure
@@ -31,11 +44,11 @@ default:
 
 # create a pipeline only in some cases : merge_request, tag, master branch
 # see https://docs.gitlab.com/ee/ci/yaml/#workflowrules
-workflow:
-  rules:
-    - if: $CI_MERGE_REQUEST_ID
-    - if: $CI_COMMIT_TAG
-    - if: $CI_COMMIT_BRANCH == "master"
+# workflow:
+#   rules:
+#     - if: $CI_MERGE_REQUEST_ID
+#     - if: $CI_COMMIT_TAG
+#     - if: $CI_COMMIT_BRANCH == "master"
 
 
 # job starting with a . are not run, see https://docs.gitlab.com/ee/ci/yaml/#hidden-keys-jobs
@@ -86,21 +99,19 @@ workflow:
       $CI_PROJECT_DIR/Superbuild
     - cmake --build . --parallel 8
 
+.configure:
+  stage: configure
+  extends: .default_rules
+  script:
+    - cd $lidarview_build_dir
+    # create a compilation database for the analize stage (clang-tidy)
+    - cmake -DBUILD_TESTING=True -DCMAKE_EXPORT_COMPILE_COMMANDS=True .
+
 .build:
   stage: build
-  needs: []
   extends: .default_rules
   script:
-    - cd $CI_PROJECT_DIR/LVCore
-    - git fetch
-    # Checking if $LVCore_COMMIT_SHA is defined should be performed here before using it.
-    # But there isn't a "IF" statement that is compatible on bash and powershell...
-    # However this variable is only defined if this job is triggered from LidarView-Core
-    # in the other case the command will result in a  "git checkout" which  is a glorified no-op (no operation)
-    # according to git documentation, see https://git-scm.com/docs/git-checkout#Documentation/git-checkout.txt-emgitcheckoutemltbranchgt
-    - git checkout $LVCore_COMMIT_SHA
     - cd $lidarview_build_dir
-    - cmake -DBUILD_TESTING=True .
     - cmake --build . --target install --parallel 8
 
 .test:
@@ -159,7 +170,8 @@ workflow:
   resource_group: osx_machine
 
 .windows_runner_config:
-  before_script: &windows_before_script
+  before_script:
+    - *default_before_script_anchor
     # to use the Microsoft C++ Toolset from the command line, some environment variable need to be set
     # To help with this, Microsoft provide the vcvarsall.bat script that set different environment see
     # https://docs.microsoft.com/en-us/cpp/build/building-on-the-command-line?view=vs-2019
@@ -216,6 +228,79 @@ windows_superbuild:
     - .windows_runner_config
     - .superbuild
 
+##############
+#  Analize   #
+##############
+linux_configure:
+  extends:
+    - .linux_runner_config
+    - .configure
+
+osx_configure:
+  extends:
+    - .osx_runner_config
+    - .configure
+
+windows_configure:
+  extends:
+    - .windows_runner_config
+    - .configure
+
+##############
+#  Analize   #
+##############
+cpp-check:
+  stage: analyze
+  tags: [cpp-check]
+  needs: [linux_configure]
+  script:
+    - cppcheck . --enable=warning,performance,portability --quiet --std=c++11 --std=c++14 --error-exitcode=1
+  rules:
+    - if: $DISABLE_LINUX
+      when: never
+    - when: always
+
+clang-tidy:
+  stage: analyze
+  tags: [clang-tidy]
+  needs: [linux_configure]
+  script:
+    - >
+      get_modified_files_in_current_git_repository() {
+        local current_SHA=$(git rev-parse HEAD)
+        local ancestor_SHA=$(git merge-base $current_SHA origin/master)
+        local modified_files=$(git diff --name-only  $ancestor_SHA $current_SHA *.{h,cxx})
+        echo $modified_files
+      }
+    # Run clang-tidy only on the modify file, because it's very time consuming
+    - cd $CI_PROJECT_DIR/$TRIGGER_MODULE_PATH
+    - file_to_analize=$(get_modified_files_in_current_git_repository)
+    - |
+      if [[ -z $file_to_analize ]]; then
+        echo "No file to analize"
+        exit 0
+      fi
+    - echo 'The following file will be analized:'
+    - echo $file_to_analize | tr " " "\n"
+    # if you get an error about a missing yaml, either you install it. Otherwise you could just fix the scrip
+    # see https://reviews.llvm.org/D59734
+    - /usr/lib/llvm-6.0/share/clang/run-clang-tidy.py -p $lidarview_build_dir $file_to_analize > output.txt
+    # clang-format do not report exit code, so the generated output will be parsed instead.
+    - |
+      if [[ -n $(grep "warning: " output.txt) ]] || [[ -n $(grep "error: " output.txt) ]]; then
+        echo "Clang tidy fail"
+        echo ""
+        grep --color -E '^|warning: |error: ' output.txt
+        exit -1;
+      else
+        echo -e "\033[1;32m\xE2\x9C\x93 passed:\033[0m $1";
+      fi
+  rules:
+    - if: $DISABLE_LINUX
+      when: never
+    - when: always
+
+
 ##############
 #   Build    #
 ##############
@@ -223,16 +308,18 @@ linux_build:
   extends:
     - .linux_runner_config
     - .build
+  needs: [linux_configure]
 
 osx_build:
   extends:
     - .osx_runner_config
     - .build
-
+  needs: [osx_configure]
 windows_build:
   extends:
     - .windows_runner_config
     - .build
+  needs: [windows_configure]
 
 ##############
 #    Test    #
diff --git a/CI/.gitlab-ci.yml b/CI/.gitlab-ci.yml
index 8c056d48be6201bd118d517d4d4e1ee8dc8dd937..061a877a0b032f2ab42ff4d948c2cc6ec6209a31 100644
--- a/CI/.gitlab-ci.yml
+++ b/CI/.gitlab-ci.yml
@@ -1,12 +1,13 @@
 # launch lidarview CI, see https://docs.gitlab.com/ee/ci/multi_project_pipelines.html
 launch_lidarview_CI:
   variables:
-    LVCore_COMMIT_SHA: $CI_COMMIT_SHA
-  only:
-    - master
-    - merge_requests
-    - tags
+    TRIGGER_MODULE_SHA: $CI_COMMIT_SHA
+    TRIGGER_MODULE_PATH: LVCore
+  # only:
+  #   - master
+  #   - merge_requests
+  #   - tags
   trigger:
     project: lidarview/lidarview
-    branch: master
+    branch: enable_to_test_ci
     strategy: depend
\ No newline at end of file