There are two issues with sunlight and iToF. The sunlight photons saturate the pixel, and you get no useful measurement. The dominant noise source of iToF is ph

There are two issues with sunlight and iToF. The sunlight photons saturate the pixel, and you get no useful measurement. The dominant noise source of iToF is photon shot noise [1], so sunlight photons contribute heavily to noise. Increase your laser power, use better optical notch filters, decrease the sensor integration time, and do more image filtering. I'm a cofounder at Chronoptics and we've developed a sunlight capable ToF camera, https://youtu.be/7vMI37S0w3Q https://youtu.be/7vMI37S0w3Q [1] https://en.wikipedia.org/wiki/Shot_noise https://en.wikipedia.org/wiki/Shot_noise