#VRML_SIM R2023b utf8

PROTO RobotCamera [
  field SFString name ""
  field SFVec3f translation 0 0 0
  field SFRotation rotation 0 0 1 0
  field SFInt32 width 800
  field SFInt32 height 450
] {
  Camera {
    name IS name
    translation IS translation
    rotation IS rotation
    children [
      Pose {
        translation 0 0 0
        rotation 0 1 0 1.5708
        children [
          Shape {
            appearance PBRAppearance {
              baseColor 0 0 0
            }
            geometry Cylinder {
              height 0.01
              radius 0.01
            }
            castShadows FALSE
          }
        ]
        translationStep 0.001
      }
      Pose {
        translation -0.02 0 0
        children [
          Shape {
            appearance PBRAppearance {
              baseColor 0.4 0.4 0.4
              metalness 0
            }
            geometry Box {
              size 0.03 0.03 0.03
            }
          }
        ]
      }
    ]
    # In radians, ~45 degrees
    fieldOfView 0.82
    width IS width
    height IS height
    recognition Recognition {
      frameThickness 2
      maxRange 6
    }
  }
}
