Non Clipping images and working equations at height of .6m.

Reference Images. Unity coordinates  X: 2, Y: 1, Z: 2

find3DOrthogonal.m

@@ -0,0 +1,50 @@
+function [y_comp,x_comp,h_ball] = find3DOrthogonal(top_ball_x_px, top_ball_y_px, side_ball_x_px, side_ball_y_px)
+   % constants
+ 
+   TOP_CAM_H = 13;
+   TOP_CAM_FOV_H = 90;
+   TOP_CAM_FOV_V = 58.70567;
+   TOP_CAM_IMG_W = 3840;
+   TOP_CAM_IMG_H = 2160;
+
+    SIDE_CAM_H = .6;
+    SIDE_CAM_Y = 9.5;
+    SIDE_CAM_FOV_H = 133.1735;
+    SIDE_CAM_FOV_V = 120;
+    SIDE_CAM_IMG_W = 3840;
+    SIDE_CAM_IMG_H = 2160;
+
+
+   %Calculations% x position
+   theta_x = (top_ball_x_px - (TOP_CAM_IMG_W / 2)) * (TOP_CAM_FOV_H / TOP_CAM_IMG_W);
+   x_ball = TOP_CAM_H * tand(theta_x);
+   
+   % y position
+   theta_y = (top_ball_y_px - (TOP_CAM_IMG_H / 2)) * (TOP_CAM_FOV_V / TOP_CAM_IMG_H);
+   y_ball = TOP_CAM_H * tand(theta_y);
+   
+   % height
+   theta_h = ((SIDE_CAM_IMG_H / 2) - side_ball_y_px) * (SIDE_CAM_FOV_V / SIDE_CAM_IMG_H);
+   h_ball = (SIDE_CAM_H + (tand(theta_h) * (SIDE_CAM_Y - y_ball))) / (1 - (y_ball*tand(theta_h) / TOP_CAM_H));
+
+   
+   % x & y positions compensated based on height
+   x_comp = x_ball * (1 - (h_ball / TOP_CAM_H));
+   
+   y_comp = y_ball * (1 - (h_ball / TOP_CAM_H)); % THIS ONE
+
+%x_comp =x_ball;
+%y_comp = y_ball;
+
+   h_ball = h_ball - .2;
+   h_error = .38*h_ball;
+   h_ball = h_ball + h_error;
+   h_error = .16*h_ball;
+   h_ball = h_ball + h_error;
+
+end
+
+
+%TODO
+% 1) take out rgb2grey and find circle with rgb image
+% 2) figure out how are calculated based on camera as refences