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Is it possible to add a reflectivity property to a mesh?

asked 2021-08-11 03:01:28 -0500

igricart gravatar image

I am creating a simulation which consists of a car and I would like to get some features from it. In a real scenario, there is noise in the LiDAR data when scanning the car, probably because of the surface reflectivity. Is it possible to simulate an effect like this in Gazebo?

I have a mesh but I couldn't find a reflectivity property in the sdf documentation.

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answered 2021-08-30 05:09:30 -0500

Veerachart gravatar image

There is laser_retro that can be attached to a visual to give that visual a floating-point value for the intensity from LiDAR. The whole visual will give you the same intensity value though (but you can split your meshes further to give various values to various parts, a bit tedious though). I'm not sure if this works only on GPU LiDAR or also the CPU LiDAR.

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Asked: 2021-08-11 03:01:28 -0500

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Last updated: Aug 30 '21