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Fusion Server Notes

To make the fusion server work, you need to build the tsdf-fusion utility yourself by, after building spartan, running cd ~/spartan/src/tsdf-fusion/ && ./compile.sh.

The fusion server (process 8.8 in the iiwa_hardware procman) offers a handful of services that you can call to trigger an automatic reconstruction of what's on the tabletop:

  • /capture_scene
  • /capture_scene_and_fuse
  • /perform_elastic_fusion
  • /start_bagging_fusion_data
  • /stop_bagging_fusion_data

You could conceivably call /start_bagging_fusion_data, then navigate the robot around yourself, then call /stop_bagging_fusion_data, and then call /perform_elastic_fusion, but it's easier (and uses TSDF instead of elastic fusion, which is more reliable and better given our good camera calibration) to just use /capture_scene_and_fuse.

You can modify what /capture_scene_and_fuse does by tweaking spartan/src/catkin_projects/fusion_server/src/fusion_server/fusion.py. For example:

  • You can change the poses it moves between by changing config['scan']['pose_list'], or by changing which pose list is used (e.g. swap from 'pose_list' to 'pose_list_quick') by tweaking the move_robot_through_scan_poses function.
  • You can change the area that is reconstructed (to focus on e.g. the cutting board) by tweaking the handle_capture_scene_and_fuse function. There's a commented out changed call to tsdf_fusion.run_tsdf_fusion_cuda that does a higher-res reconstruction focused on just the cutting board in the center of the robot table.