Not a published formula and every camera is a little different, but simply having a filter that allows us to
Having said that, many video editors have presets for 1 million cameras.
Also, I found this:
https://www.theeminentcodfish.com/gopro-calibration/
And this formula from VideoProc:
Plus this trip to Geekoutsville:
https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4934233/