Fix reflectance values for objects without a reflectance map #2833
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Signed-off-by: Ian Chen <ichen@osrfoundation.org>
ahcorde
approved these changes
Aug 26, 2020
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I think this caused a regression in the OgreLog/LogError test |
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scpeters
reviewed
Sep 4, 2020
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this line is causing the INTEGRATION_ogre_log test to fail:
17:22:34: Compiler error: unknown error in gazebo.material(247): token "lighting" is not recognized
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thanks for catching this. Addressed in #2840
Merged
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When generating reflectance values for depth cameras, visuals in the scene without a reflectance map is assigned a black material so they show up as 0s in the image output. However, it was found that the material used Gazebo/Black is not a pure black color as it has a small amount specular component and the final color is also affected by lighting. So the resulting reflectance output is non-zero. This PR creates a new
Gazebo/BlackUnlitmaterial that is true black and updates the reflectance generation code to use this material instead.Signed-off-by: Ian Chen ichen@osrfoundation.org