# M0040 ToF sensor FOV

Source: https://forum.modalai.com/topic/2140/m0040-tof-sensor-fov
Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories)
Tags: image-sensor
Posted: 2023-05-09 07:42:00 UTC by Eloi
Replies: 2 · Views: 1150

## Eloi · 2023-05-09 07:42:00 UTC

Dear ModalAI,

At https://docs.modalai.com/M0040/ you have: 
FOV (H x W)	85.1° 106.5° (measured by experiemnt)

At https://www.modalai.com/products/voxl-dk-tof you have:
FOV (H x V)	117° x 117° (near field 100° x 80°)

Which is the correct FOV?

Also, which is the correct position of the sensor (as vertical and horizontal plane)?
![f60159ba-a3ac-437b-8db9-6c0aec20444a-image.png](https://forum.modalai.com/assets/uploads/files/1683617406609-f60159ba-a3ac-437b-8db9-6c0aec20444a-image.png) from this link https://docs.modalai.com/M0040/ or 
![356449b6-a6f9-4892-b1cf-9b39c8774dfa-image.png](https://forum.modalai.com/assets/uploads/files/1683617433566-356449b6-a6f9-4892-b1cf-9b39c8774dfa-image.png) from this link? https://www.modalai.com/products/voxl-dk-tof

I want to create a 3D cone covering the "view" to be sure that it doesn't see anything else, but cannot due to different FOVs and that i don't know what is the horizontal plane of the sensor.
By now I'll use the more restrictive FOV 117ºX117º...

Thanks for your work!
Eloi

## Reply by Chad Sweet (ModalAI staff) · 2023-05-10 15:09:24 UTC

The statement: "FOV (H x V)	117° x 117° (near field 100° x 80°)" was provided by PMD, the technology company behind the sensor. Since the "near field" spec lines up with our measured spec, I think that is a good place to start

## Reply by Eloi · 2023-05-11 09:50:02 UTC

Thanks, 
BTW, i've checked it with the help of a team mate and this is the correct FOV orientation for the sensor (not the measurements):
![e05f360a-d319-4564-a99d-b38286d36f7c-image.png](https://forum.modalai.com/assets/uploads/files/1683797119162-e05f360a-d319-4564-a99d-b38286d36f7c-image.png) 

Keep in mind that the Graphics Industry Standard is **W x H** and you have *H x W = 85ºX106º* and should be W x H = 85ºx106º (for this position in the picture) 
Also, *W x H = 85ºx106º* vs *Horizontal x Vertical = 100ºX80º* on the different images can cause confusion with the different orientations and values.

I would suggest to use the same ratings on both pictures.

This is the correct HxV position of the sensor:
![4a3d84ec-ea53-4d7c-bde8-9f30dd96a861-image.png](https://forum.modalai.com/assets/uploads/files/1683798333107-4a3d84ec-ea53-4d7c-bde8-9f30dd96a861-image.png)

Eloi