1.       Angular

a.       FOV = 2 * arctan (S / 2f),

b.       S: diagonal size of sensor

c.       F: focal length

2.       For example

a.       예제 센서: 3.2 * 2.56 mm, 렌즈 f 6 mm

b.       FOV (width)

                                                               i.      2*arctan(3.2/2/6) = 29.9 deg =0.521 rad

                                                             ii.      70*tan(15.0 deg)*2 = 373 mm

c.       FOV (height)

                                                               i.      2*arctan(2.56/2/6) =0.420 rad

                                                             ii.      70*tan(0.210 rad)*2 = 298 mm

Camera Field of View Calculator (omnicalculator.com)