def focal(self):
        """
        Get the focal length in pixels for the camera.

        Returns
        ------------
        focal : (2,) float
          Focal length in pixels
        """
        if self._focal is None:
            # calculate focal length from FOV
            focal = [(px / 2.0) / np.tan(np.radians(fov / 2.0))
                     for px, fov in zip(self._resolution, self.fov)]
            # store as correct dtype
            self._focal = np.asanyarray(focal, dtype=np.float64)

        return self._focal
def focal ( self ) : if self . _focal is None : focal = [ ( px / 2.0 ) / np . tan ( np . radians ( fov / 2.0 ) ) for px , fov in zip ( self . _resolution , self . fov ) ] self . _focal = np . asanyarray ( focal , dtype = np . float64 ) return self . _focal
Get the focal length in pixels for the camera.

        Returns
        ------------
        focal : (2,) float
          Focal length in pixels