Inverted reflectance output

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>
gazebosim · Apr 26, 2021 · c776173 · c776173
1 parent ca05d96
commit c776173
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/gazebo/sensors/DepthCameraSensor.cc b/gazebo/sensors/DepthCameraSensor.cc
@@ -222,6 +222,12 @@ bool DepthCameraSensor::UpdateImpl(const bool /*_force*/)
     memcpy(this->dataPtr->reflectanceBuffer,
         this->dataPtr->depthCamera->ReflectanceData(), reflectanceBufferSize);
 
+    for (unsigned int i = 0; i < reflectanceSamples; ++i)
+    {
+      this->dataPtr->reflectanceBuffer[i] =
+        1.0 - this->dataPtr->reflectanceBuffer[i];
+    }
+
     msg.mutable_image()->set_data(this->dataPtr->reflectanceBuffer,
         reflectanceBufferSize);