I have a requirement to calculate the ground footprint for an aerial camera. I have the camera position and orientation. To calculate it, I require to calculate Horizontal Field of View (FoV) and vertical FoV. I found the formulas in calculating horizontal FoV and vertical FoV. But the formulas assume that the principal point is in the image center (I hope).

What are the correct formulas to apply when the principal point is not the image center? In my case, the principal point deviates from the image center.

Does principal point have an impact on calculating Horizontal FoV and Vertical FoV?