diff --git a/cmake/gazebo-config.cmake.in b/cmake/gazebo-config.cmake.in
index 9d7b544c67..cadf839770 100644
--- a/cmake/gazebo-config.cmake.in
+++ b/cmake/gazebo-config.cmake.in
@@ -171,7 +171,7 @@ list(APPEND @PKG_NAME@_INCLUDE_DIRS ${PROTOBUF_INCLUDE_DIRS})
 list(APPEND @PKG_NAME@_LIBRARIES ${PROTOBUF_LIBRARIES})
 
 # Find SDFormat
-find_package(sdformat9 REQUIRED)
+find_package(sdformat9 REQUIRED VERSION 9.8)
 list(APPEND @PKG_NAME@_INCLUDE_DIRS ${SDFormat_INCLUDE_DIRS})
 list(APPEND @PKG_NAME@_LIBRARIES ${SDFormat_LIBRARIES})
 
diff --git a/gazebo/rendering/Camera.cc b/gazebo/rendering/Camera.cc
index 502f122a13..a97e425234 100644
--- a/gazebo/rendering/Camera.cc
+++ b/gazebo/rendering/Camera.cc
@@ -118,6 +118,8 @@ Camera::Camera(const std::string &_name, ScenePtr _scene,
 
   this->dataPtr->node = transport::NodePtr(new transport::Node());
   this->dataPtr->node->Init();
+
+  this->dataPtr->antiAliasingValue = 4;
 }
 
 //////////////////////////////////////////////////
@@ -143,6 +145,8 @@ void Camera::Load()
     this->imageHeight = imgElem->Get<int>("height");
     this->imageFormat = this->OgrePixelFormat(
         imgElem->Get<std::string>("format"));
+
+    this->dataPtr->antiAliasingValue = imgElem->Get<int>("anti_aliasing");
   }
   else
     gzthrow("Camera has no <image> tag.");
@@ -1480,7 +1484,7 @@ void Camera::CreateRenderTexture(const std::string &_textureName)
       RenderEngine::Instance()->FSAALevels();
 
   // check if target fsaa is supported
-  unsigned int targetFSAA = 4;
+  unsigned int targetFSAA = this->dataPtr->antiAliasingValue;
   auto const it = std::find(fsaaLevels.begin(), fsaaLevels.end(), targetFSAA);
   if (it != fsaaLevels.end())
     fsaa = targetFSAA;
diff --git a/gazebo/rendering/CameraPrivate.hh b/gazebo/rendering/CameraPrivate.hh
index 686333c742..ac8b24e20f 100644
--- a/gazebo/rendering/CameraPrivate.hh
+++ b/gazebo/rendering/CameraPrivate.hh
@@ -117,6 +117,9 @@ namespace gazebo
 
       /// \brief Fixed axis to yaw around.
       public: ignition::math::Vector3d yawFixedAxis;
+
+      /// \brief Anti-aliasing value
+      public: uint32_t antiAliasingValue;
     };
   }
 }