diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h
index 313e18264..6eb1310e5 100644
--- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h
+++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h
@@ -147,7 +147,8 @@ namespace gazebo
     protected: double cx_prime_;
     protected: double cx_;
     protected: double cy_;
-    protected: double focal_length_;
+    protected: double focal_length_x_;
+    protected: double focal_length_y_;
     protected: double hack_baseline_;
     protected: double distortion_k1_;
     protected: double distortion_k2_;
diff --git a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp
index 4776cae45..e54836321 100644
--- a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp
+++ b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp
@@ -179,13 +179,34 @@ void GazeboRosCameraUtils::Load(sensors::SensorPtr _parent,
   else
     this->cy_ = this->sdf->Get<double>("Cy");
 
-  if (!this->sdf->HasElement("focalLength"))
+  if (this->sdf->HasElement("focalLength"))
   {
-    ROS_DEBUG("Camera plugin missing <focalLength>, defaults to 0");
-    this->focal_length_= 0;
+    this->focal_length_x_ = this->sdf->Get<double>("focalLength");
+    this->focal_length_y_ = this->focal_length_x_;
+  }
+
+  if (!this->sdf->HasElement("focalLengthX"))
+  {
+    if (!this->sdf->HasElement("focalLength"))
+    {
+      ROS_DEBUG("Camera plugin missing <focalLengthX>, defaults to 0");
+      this->focal_length_x_= 0;
+    }
+  }
+  else
+    this->focal_length_x_ = this->sdf->Get<double>("focalLengthX");
+
+  if (!this->sdf->HasElement("focalLengthY"))
+  {
+    if (!this->sdf->HasElement("focalLength"))
+    {
+      ROS_DEBUG("Camera plugin missing <focalLengthY>, defaults to 0");
+      this->focal_length_y_= 0;
+    }
   }
   else
-    this->focal_length_ = this->sdf->Get<double>("focalLength");
+    this->focal_length_y_ = this->sdf->Get<double>("focalLengthY");
+
 
   if (!this->sdf->HasElement("hackBaseline"))
   {
@@ -478,14 +499,15 @@ void GazeboRosCameraUtils::Init()
     (2.0 * tan(this->camera_->GetHFOV().Radian() / 2.0));
 # endif
 
-  if (this->focal_length_ == 0)
+  if (this->focal_length_x_ == 0 || this->focal_length_y_ == 0)
   {
-    this->focal_length_ = computed_focal_length;
+    this->focal_length_x_ = computed_focal_length;
+    this->focal_length_y_ = computed_focal_length;
   }
   else
   {
     // check against float precision
-    if (!gazebo::math::equal(this->focal_length_, computed_focal_length))
+    if (!gazebo::math::equal(this->focal_length_x_, computed_focal_length))
     {
 # if GAZEBO_MAJOR_VERSION >= 7
       ROS_WARN("The <focal_length>[%f] you have provided for camera_ [%s]"
@@ -494,7 +516,7 @@ void GazeboRosCameraUtils::Init()
                " focal_length = width_ / (2.0 * tan(HFOV/2.0)),"
                " the explected focal_lengtth value is [%f],"
                " please update your camera_ model description accordingly.",
-                this->focal_length_, this->parentSensor_->Name().c_str(),
+                this->focal_length_x_, this->parentSensor_->Name().c_str(),
                 this->width_, this->camera_->HFOV().Radian(),
                 computed_focal_length);
 # else
@@ -504,7 +526,7 @@ void GazeboRosCameraUtils::Init()
                " focal_length = width_ / (2.0 * tan(HFOV/2.0)),"
                " the explected focal_lengtth value is [%f],"
                " please update your camera_ model description accordingly.",
-                this->focal_length_, this->parentSensor_->GetName().c_str(),
+                this->focal_length_x_, this->parentSensor_->GetName().c_str(),
                 this->width_, this->camera_->GetHFOV().Radian(),
                 computed_focal_length);
 
@@ -530,11 +552,11 @@ void GazeboRosCameraUtils::Init()
   camera_info_msg.D[3] = this->distortion_t1_;
   camera_info_msg.D[4] = this->distortion_t2_;
   // original camera_ matrix
-  camera_info_msg.K[0] = this->focal_length_;
+  camera_info_msg.K[0] = this->focal_length_x_;
   camera_info_msg.K[1] = 0.0;
   camera_info_msg.K[2] = this->cx_;
   camera_info_msg.K[3] = 0.0;
-  camera_info_msg.K[4] = this->focal_length_;
+  camera_info_msg.K[4] = this->focal_length_y_;
   camera_info_msg.K[5] = this->cy_;
   camera_info_msg.K[6] = 0.0;
   camera_info_msg.K[7] = 0.0;
@@ -551,12 +573,12 @@ void GazeboRosCameraUtils::Init()
   camera_info_msg.R[8] = 1.0;
   // camera_ projection matrix (same as camera_ matrix due
   // to lack of distortion/rectification) (is this generated?)
-  camera_info_msg.P[0] = this->focal_length_;
+  camera_info_msg.P[0] = this->focal_length_x_;
   camera_info_msg.P[1] = 0.0;
   camera_info_msg.P[2] = this->cx_;
-  camera_info_msg.P[3] = -this->focal_length_ * this->hack_baseline_;
+  camera_info_msg.P[3] = -this->focal_length_x_ * this->hack_baseline_;
   camera_info_msg.P[4] = 0.0;
-  camera_info_msg.P[5] = this->focal_length_;
+  camera_info_msg.P[5] = this->focal_length_y_;
   camera_info_msg.P[6] = this->cy_;
   camera_info_msg.P[7] = 0.0;
   camera_info_msg.P[8] = 0.0;
diff --git a/gazebo_plugins/src/gazebo_ros_prosilica.cpp b/gazebo_plugins/src/gazebo_ros_prosilica.cpp
index dd0203290..0eb34f1e4 100644
--- a/gazebo_plugins/src/gazebo_ros_prosilica.cpp
+++ b/gazebo_plugins/src/gazebo_ros_prosilica.cpp
@@ -247,11 +247,11 @@ void GazeboRosProsilica::pollCallback(polled_camera::GetPolledImage::Request& re
         this->roiCameraInfoMsg->D[3] = this->distortion_t1_;
         this->roiCameraInfoMsg->D[4] = this->distortion_t2_;
         // original camera matrix
-        this->roiCameraInfoMsg->K[0] = this->focal_length_;
+        this->roiCameraInfoMsg->K[0] = this->focal_length_x_;
         this->roiCameraInfoMsg->K[1] = 0.0;
         this->roiCameraInfoMsg->K[2] = this->cx_ - req.roi.x_offset;
         this->roiCameraInfoMsg->K[3] = 0.0;
-        this->roiCameraInfoMsg->K[4] = this->focal_length_;
+        this->roiCameraInfoMsg->K[4] = this->focal_length_y_;
         this->roiCameraInfoMsg->K[5] = this->cy_ - req.roi.y_offset;
         this->roiCameraInfoMsg->K[6] = 0.0;
         this->roiCameraInfoMsg->K[7] = 0.0;
@@ -267,12 +267,12 @@ void GazeboRosProsilica::pollCallback(polled_camera::GetPolledImage::Request& re
         this->roiCameraInfoMsg->R[7] = 0.0;
         this->roiCameraInfoMsg->R[8] = 1.0;
         // camera projection matrix (same as camera matrix due to lack of distortion/rectification) (is this generated?)
-        this->roiCameraInfoMsg->P[0] = this->focal_length_;
+        this->roiCameraInfoMsg->P[0] = this->focal_length_x_;
         this->roiCameraInfoMsg->P[1] = 0.0;
         this->roiCameraInfoMsg->P[2] = this->cx_ - req.roi.x_offset;
-        this->roiCameraInfoMsg->P[3] = -this->focal_length_ * this->hack_baseline_;
+        this->roiCameraInfoMsg->P[3] = -this->focal_length_x_ * this->hack_baseline_;
         this->roiCameraInfoMsg->P[4] = 0.0;
-        this->roiCameraInfoMsg->P[5] = this->focal_length_;
+        this->roiCameraInfoMsg->P[5] = this->focal_length_y_;
         this->roiCameraInfoMsg->P[6] = this->cy_ - req.roi.y_offset;
         this->roiCameraInfoMsg->P[7] = 0.0;
         this->roiCameraInfoMsg->P[8] = 0.0;