Already ahead of you
review your kinematic equations to calculate velocity of a ball. You have to measure the distance the ball moves between two frames, and then divide that by the time between the two frames. This gives you velocity in 3d space if you do it properly. You can do more physics calculations to find the heading of the ball, which will remain constant in the real world but will change if the camera moves.
To find time you calculate velocity in the up direction, and do d =vt +att. Where d is it's height in the air in the initial frame.
You then use time to calculate how far the ball will travel in the left right forward back plane. You also have to take into account the delay of the program calculations and the time is takes for thr crio to do its stuff.
We're going for autonomous ball catching only on rare occasions during competitions, like in practice matches.