[yash101]

So this year, as you may have noticed (by my posts), I'm working on a uber-powerful vision tracking system. So I was thinking about how to create a driver-aid widget to find where the ball is, and where it will land. I will have a 2D image of the ball, but I can grab the third by either a PING or Trigonometry.

So here's my question:
So our shooter will most likely have 2 or three modes, a shoot, pass and toss mode, depending on which cylinders are fired. So, if I can get the exit velocity of each mode, and I can know what mode the shooter is in, how can I find out where the ball will land. I want to use trigonometry to do this, so I don't have to recalibrate the camera to look for a ball of a different size. How can I estimate where the ball will hit the ground.

Also, if a ball is tossed towards the robot, how can the robot automatically align itself by calculating the ball's trajectory?

My platform is OpenCV-2.4.8.0/Windows 8.1, under Visual Studio 2013.

Also, how do I find out the exit velocity of the ball from the shooter?