An imaging system comprising: a light source for illuminating a scene with a known intensity light; a camera having an optic axis and center that images the scene responsive to light reflected by the scene from the illuminating, known intensity light; a range finder controllable to determine distances to surface elements of the scene imaged by the camera; a controller configured to determine reflectivity of a surface element of the scene imaged by the camera responsive to a distance of the surface element from the camera, the known intensity of illuminating light and light from the surface element imaged by the camera.