QA Findings Viewer

Real-time viewer for quality assurance findings published by Hammerhead. Displays system monitoring, Hammerhead performance metrics, and image quality assessments.

Build

mkdir build
cd build
cmake ..
cmake --build . --config Release

Usage

# Linux
./qa_findings_viewer <src_ip>

# Windows
./Release/qa_findings_viewer.exe <src_ip>

Parameters

  • src_ip: IP address of the device running Hammerhead

Examples

# View QA findings from local Hammerhead instance
./qa_findings_viewer 127.0.0.1

# View QA findings from remote Hammerhead device
./qa_findings_viewer 10.10.1.10

QA Findings Types

The viewer displays three categories of quality assurance findings:

System Monitoring

  • CPU Temperature: Warning ≥90°C, Error ≥99°C
  • GPU Temperature: Warning ≥90°C, Error ≥99°C
  • RAM Usage: Warning ≥80%, Error ≥90%
  • CPU Load: Warning ≥11.0, Error ≥20.0 (load average)
  • Disk Space: Warning ≤10GB free per mount point

Hammerhead Monitoring

  • Frame Sync: Warning ≥50μs, Error ≥1000μs (synchronization timing between cameras)

Image Monitoring

  • Underexposure: Warning ≤-1.5 (exposure assessment)
    • Detection method: Analyzes pixel intensity histograms to identify when too many pixels are dark/clipped to black
    • Metric meaning: Negative values indicate underexposure severity; more negative = more underexposed
  • Overexposure: Warning ≥0.3 (exposure assessment)
    • Detection method: Analyzes pixel intensity histograms to identify when too many pixels are bright/clipped to white
    • Metric meaning: Positive values indicate overexposure severity; higher values = more overexposed
  • Blur: Warning ≤0.58 (image sharpness, lower = more blurry)
    • Detection method: Uses DFT (Discrete Fourier Transform) to analyze frequency domain energy content
    • Metric meaning: Higher energy in high frequencies indicates sharper images; values below 0.58 indicate insufficient sharpness for reliable stereo matching

Output Format

Each QA finding is displayed with:

  • Frame ID: Sequential frame identifier from the stereo camera system
  • Timestamp: When the finding was detected (corresponds to left image timestamp)
  • Domain: Category (system/hammerhead/image)
  • Key: Specific metric identifier
  • Severity: ERROR, WARNING, or INFO
  • Message: Human-readable description
  • Value: Numeric measurement
  • Unit: Measurement unit

A summary is provided showing the total count of INFO, WARNING, and ERROR findings for each frame.

Monitoring Frequency

  • System Monitoring: Periodic checks every 5000ms (5 seconds)
  • Hammerhead Monitoring: Per-frame checks
  • Image Monitoring: Per-frame checks

Configuration

To enable QA findings publishing in Hammerhead, set the following in master_config.ini:

# Enable quality assurance monitoring
enable_quality_assurance = 1

# Enable specific monitoring types
enable_system_monitor = 1
enable_hammerhead_monitor = 1
enable_image_monitor = 1

# Enable QA findings publishing
publish_qa_findings = 1

Features

  • Real-time QA findings display
  • Frame ID tracking
  • Persistent connection handling

Troubleshooting

General Issues

  • No findings appear: Check that Hammerhead is running with QA enabled and publish_qa_findings = 1
  • Connection timeout: Verify network connectivity and IP address

System Monitoring Issues

  • High CPU/GPU Temperature: Improve cooling, check thermal paste, verify fan operation
  • High RAM Memory: Close unnecessary applications, increase swap space if needed
  • High CPU Load: Identify resource-intensive processes, reduce concurrent operations
  • Low Disk Space: Clean up temporary files, archive old data, expand storage

Hammerhead Monitoring Issues

  • Frame Sync Errors: Check camera connections, verify cable integrity, ensure cameras are properly synchronized
  • If you observe sparse or empty depth maps:
    • Perform initial calibration routine if mounting cameras for the first time
    • Perform refinement calibration periodically
    • Check for obstructions in camera field of view
    • Ensure cameras are clean and focused
    • Improve lighting conditions

Image Monitoring Issues

  • Underexposure: Increase lighting, adjust camera exposure settings, check for lens obstruction
  • Overexposure: Reduce lighting intensity, adjust camera exposure settings
  • High Blur: Clean camera lenses, check focus settings, reduce camera shake, verify mounting stability

Press Ctrl+C to exit the viewer.