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Simulating a Structured Light Sensor in Gazebo

Hello,

I am in the process of working on a system that will end up using a structured light sensor similar to the one being depicted in the image below, and I was wondering what the best way to simulate this sensor in Gazebo was/if it already has been.

One idea was to take two depth camera's and AND their pointclouds together, that way if one of the cameras were obstructed or part of either's FOV was obstructed, it would cast a shadow.

Looking for input and help to ensure we have as realistic of a simulation as possible.

Thanks in advance!

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