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This question has been answered here:

https://answers.ros.org/question/12658/how-to-change-gazebo-gui-focal-lengthfov/

Basically use this formula:

f = (width/2) / tan( deg2rad(hfov)/2)

The following links are also helpful for the topic:

https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html https://nl.mathworks.com/help/vision/ug/camera-calibration.html http://docs.ros.org/melodic/api/sensor_msgs/html/msg/CameraInfo.html https://wiki.ros.org/image_pipeline/CameraInfo