An antenna module mounted to a roof of a vehicle that includes a plurality of antenna elements for various vehicle communications systems. The antenna module also includes an FDM camera associated with an FDM, where the camera is positioned at the rear of the module and is mounted in a general flat configuration parallel to the roof the vehicle so that the camera field-of-view is directed upward and so that metal components of the camera do not interfere with the radiation pattern of the antenna elements. The camera includes one or more optical elements, such as a prism or reflector, mounted to the camera or other structure that redirects the camera field-of-view rearward of the vehicle.