RGBD camera noise model

edit

I saw there are many sensor models and plugins in order to simulate an RGB camera (either Asus, Kinect, etc). However, I do not see any way to include noise in both RGB and Depth, neither in Gazebo nor in the available plugins. I tried the <noise> tag in the sensor but it seems to have no effect.

Is there any gazebo_ros plugin (or Gazebo plugin) somewhere to simulate the RGB camera more accurately?

Thank you!

For completeness, I include the part of the sensor of my model:

    <sensor type="depth" name="rgbd_camera">
        <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
                <width>640</width>
                <height>480</height>
                <format>R8G8B8</format>
            </image>
            <clip>
                <near>0.05</near>
                <far>30</far>
            </clip>
            <noise>   <!-- This does apparently nothing neither RGB nor depth-->
                <type>gaussian</type>
                <mean>0.0</mean>
                <stddev>5.0</stddev>
            </noise>
        </camera>
        <update_rate>30.0</update_rate>
        <always_on>1</always_on>
        <plugin name="multirotor_rgbd_plugin" filename="libgazebo_ros_openni_kinect.so">
            <imageTopicName>rgb/image_raw</imageTopicName>
            <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
            <pointCloudTopicName>depth/points</pointCloudTopicName>
            <depthImageTopicName>depth/image_raw</depthImageTopicName>
            <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
            <pointCloudCutoff>0.4</pointCloudCutoff>
            <pointCloudCutoffMax>5.0</pointCloudCutoffMax>
            <frameName>rgbd_camera_link</frameName>
            <cameraName>rgbd_camera</cameraName>
            <updateRate>30.0</updateRate>
        </plugin>
    </sensor>