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### RGBD camera noise model

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>