Photo dimension modification/cropping

[dottantgal]

I've seen an other open issue about this, but since there's no answer I ask it again.
You say that "To ensure that the field of view of the photo and the field of LiDAR point cloud are consistent, the photo dimension needs to be modified according to the FOV(field of view) of LiDAR, the Horizon ’s FOV is 81.7 (horizontal) x 25.1 (vertical), so the photos used in this case have a dimension of 1520 (width) x 568 (height) pixels."
So how does it work using, for ex, a livox tele 15 and a camera with max resolution of 3840x2160? Should we consider the camera FOV (in my case FOV 50 * 37)? Is there a basic formula to follow?
I really can't get the point about how to do this scaling/cropping of the camera saved images.
Thank you