Lidar FoV limitation

[ShuffleWire]

Hello,

I'm working with a solid-state high resolution multi layer lidar, and instead of working with the RangeSensor node, I prefer to work with the Lidar node. Mainly to take avantage of the built in distance -> 3D position convertion in webots.
It works actually fine, but I've encoured issue when trying to set the lidar to a very high defnition, for testing purpose :

Lidar {
     horizontalResolution 600
     fieldOfView 2.09
     verticalFieldOfView 0.559
     numberOfLayers 160
   }

I got the error message
Impossible to have a so small 'horizontalResolution' using this 'fieldOfView', 'numberOfLayers' and 'verticalFieldOfView'. 'horizontalResolution' should be bigger or equal to numberOfLayers * fieldOfView / verticalFieldOfView. 'horizontalResolution' set to 594.

The thing is, I don't understand why it trigger this behaviour... The value I've chosen don't seems irrelevant...

I've noted that the code source say :

void WbLidar::updateNumberOfLayers() {
  WbFieldChecker::resetIntIfNonPositive(this, mNumberOfLayers, 1);

  // make sure we have at least 1 pixel height per layer
  if (height() < actualNumberOfLayers()) {

So would it be that my height is too low ? but why ?
It seems to come from

int WbLidar::height() const {
  if (actualNumberOfLayers() == 1)
    return 1;
  // as we want the center of the upper/lower pixel line to be aligned with the upper/lower layer we add 'actualFieldOfView() /
  // width()' to verticalFieldOfView
  return ceil((actualVerticalFieldOfView() + actualFieldOfView() / width()) * (width() / actualFieldOfView()));
}

But I'm not sure to get what is happening here...

Any idea why it work this way ?