M0040 ToF sensor FOV

[Eloi]

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)?
from this link https://docs.modalai.com/M0040/ or
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

[Chad Sweet]

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

[Eloi]

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):

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:

Eloi