<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="default">
    <include>
      <uri>model://sun</uri>
    </include>

<!--     <include>
      <pose>1.5 0 0 0 -1.57 0</pose>
      <uri>model://checkerboard_plane</uri>
    </include> -->

    <model name="box">
      <static>1</static>
      <pose>1.5 0 0 0 -1.57 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>

    <scene>
      <background>1.0 0.0 0.0 1</background>
    </scene>

    <model name='camera_model_undistorted'>
      <static>1</static>
      <pose>0 0 0 0 0.0 0</pose>
      <link name='body'>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='camera_sensor_undistorted' type='camera'>
          <visualize>1</visualize>
          <camera>
            <horizontal_fov>0.927295218</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
        </sensor>
      </link>
    </model>

    <model name='camera_model_barrel'>
      <static>1</static>
      <pose>0 0 0 0 0.0 0</pose>
      <link name='body'>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='camera_sensor_barrel' type='camera'>
          <visualize>1</visualize>
          <camera>
            <horizontal_fov>0.927295218</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
            <distortion>
              <k1>-0.5</k1>
              <k2>0</k2>
              <k3>0</k3>
              <p1>0</p1>
              <p2>0</p2>
              <center>0.5 0.5</center>
            </distortion>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
        </sensor>
      </link>
    </model>

    <model name='camera_model_pincushion'>
      <static>1</static>
      <pose>0 0 0 0 0.0 0</pose>
      <link name='body'>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='camera_sensor_pincushion' type='camera'>
          <visualize>1</visualize>
          <camera>
            <horizontal_fov>0.927295218</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
            <distortion>
              <k1>0.5</k1>
              <k2>0</k2>
              <k3>0</k3>
              <p1>0</p1>
              <p2>0</p2>
              <center>0.5 0.5</center>
            </distortion>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
        </sensor>
      </link>
    </model>

  </world>
</sdf>
