I have a pair of AR0234 M12 modules I'm using for the left and right cameras on my robot, I would like to use wide angle lenses on these and I already have some from other projects I can use. The problem is I've no HFOV details for them, and when I've tried to calculate this in the past I've not been able to calibrate them. The other issue is that they don't fill the frame so I've parts of the sensor that aren't being used.
An example is below, you can see the black banding around the edge of the preview along with the disparity image.

Are there recommended lenses for this sensor?
If not, is there a way to calibrate without a known HFOV? I know there's a process on ROS to calibrate without this info but no idea how to port it to this camera.
Could I just publish image messages from the uncalibrated camera and use the results of it to put the calibration data manually on the FFC-3P?
If anyone can give any advice here I'd appreciate it. I'm still new to computer vision and a lot of the documentation and advice is aimed at more experienced users, I'm struggling to understand a lot of it if I'm honest but slowly learning more with help!