how to calculate Camera_FOV by focal and princpt in dataset??

[MouseChannel]

thanks

[mks0601]

https://www.edmundoptics.com/knowledge-center/application-notes/imaging/understanding-focal-length-and-field-of-view/

[MouseChannel]

https://www.edmundoptics.com/knowledge-center/application-notes/imaging/understanding-focal-length-and-field-of-view/

so fov_x = 2 * np.arctan(667 / (2 * camera_param['focal'][1])) where the 667 means the image width.
Is that right?
and princpt is not neccessary in calculate FOV

[MouseChannel]

https://www.edmundoptics.com/knowledge-center/application-notes/imaging/understanding-focal-length-and-field-of-view/

and the result of fov is about 0.25, there must be something I did wrong

[MouseChannel]

https://www.edmundoptics.com/knowledge-center/application-notes/imaging/understanding-focal-length-and-field-of-view/

I think image size is not the same thing as Camera_Sensor_size and where I can get the Sensor_Size?