<?xml version="1.0"?> 
<gazebo version="1.0">
  <world name="default">
    <include filename="ground_plane.model"/>
    <include filename="sun.light"/>

    <model name="projector_model" static="true">
      <origin pose="0 0 1 0.0 0.0 0"/>
      <link name="projector_link">

        <collision name="collision">
          <geometry>
            <sphere radius="0.1"/>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <sphere radius="0.1"/>
          </geometry>
          <material script="Gazebo/Grey"/>
        </visual>

        <projector name="texture_projector">
          <pose>0 0 0 0 -1.5707 0</pose>
          <texture>stereo_projection_pattern_high_res_red.png</texture>
          <fov>0.959931088597</fov>
          <near_clip>0.1</near_clip>
          <far_clip>10</far_clip>
        </projector>
      </link>

      <plugin filename="libprojector_plugin.so" name="projector">
        <projector>projector_link/texture_projector</projector>
      </plugin>
    </model>

    <model name="texture_test_model" static="true">
      <origin pose="3 0 1 0.0 0.0 0"/>
      <link name="texture_test_link">
        <collision name="collision">
          <geometry>
            <sphere radius="0.5"/>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <sphere radius="0.5"/>
          </geometry>
          <material script="Gazebo/Grey"/>
        </visual>
      </link>
    </model>

  </world>
</gazebo>
