I am bring up some camera models for Gazebo. These cameras have different FOV, for example, horizontal 61 degree and vertical 47.7 degree. So when I am looking the SDF sensor/camera specification (http://sdformat.org/spec?elem=sensor) there is no tag for a vertical FOV. But If I am looking at the Camera class reference (http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1rendering_1_1Camera.html) there are both available, vertical and horizontal.
Is this right? Is it possible to set the vertical FOV using the sdf file or have I to increase the functionality of the camera plugin by my own? What would you prefer?
I believe that given the horizontal FOV, the vertical FOV will be automatically calculated based on the image width and height properties.
(by the way, such technical questions are more fit for answers.gazebosim.org)