[BrandonTrabucco]

We found the horizontal and vertical fields of view using right triangle trig and proportionality. We can measure the pixel dimensions of the incoming image from the camera. Assuming that the image is not stretched or distorted from the lens by a significant amount, the diagonal, horizontal, and vertical fields of view make a similar triangle to that of the whole image.

We considered mounting our camera at a stationary angle; however, we found the camera to have a limited range of finding the goal that changed depending on how the camera was angled. We found that having it mounted on our pivoting shooter arm was a bit more flexible.