<?xml version="1.0" ?>
<sdf version="1.5">
    <model name="kinect">
        <pose>0 0 0.036 0 0 0</pose>
        <link name="link">
            <inertial>
                <mass>0.01</mass>
            </inertial>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.073000 0.276000 0.072000</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh>
                        <uri>model://kinect/meshes/kinect.dae</uri>
                    </mesh>
                </geometry>
            </visual>
            <sensor name="camera" type="depth">
                <update_rate>15</update_rate>
                <camera>
                    <horizontal_fov>1.2215</horizontal_fov>
                    <image>
                        <width>640</width>
                        <height>480</height>
                        <format>R8G8B8</format>
                    </image>
                    <clip>
                        <near>0.05</near>
                        <far>12</far>
                    </clip>
                </camera>
                <plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
                    <robotNamespace>qt_pi</robotNamespace>
                    <baseline>0.2</baseline>
                    <alwaysOn>true</alwaysOn>
                    <updateRate>15</updateRate>
                    <cameraName>camera_ir</cameraName>
                    <imageTopicName>/qt_pi/camera_ir/color/image_raw</imageTopicName>
                    <cameraInfoTopicName>/qt_pi/camera_ir/color/camera_info</cameraInfoTopicName>
                    <depthImageTopicName>/qt_pi/camera_ir/depth/image_raw</depthImageTopicName>
                    <depthImageInfoTopicName>/camera_ir/depth/camera_info</depthImageInfoTopicName>
                    <pointCloudTopicName>/qt_pi/camera_ir/depth/points</pointCloudTopicName>
                    <frameName>camera_link</frameName>
                    <pointCloudCutoff>0.05</pointCloudCutoff>
                    <distortionK1>0</distortionK1>
                    <distortionK2>0</distortionK2>
                    <distortionK3>0</distortionK3>
                    <distortionT1>0</distortionT1>
                    <distortionT2>0</distortionT2>
                    <CxPrime>0</CxPrime>
                    <Cx>0</Cx>
                    <Cy>0</Cy>
                    <focalLength>0</focalLength>
                    <hackBaseline>0</hackBaseline>
                </plugin>
            </sensor>
        </link>
    </model>
</sdf>