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The main program relies on a (at compile-time present) transformation matrix definition which can be generated and tested with a small standalone tool. Testing requires recompilation of the tool. As there is no depth information available, points in the image that are in the same 2D position of an orthographic parallel view onto the playing field will be in different positions with the generated transformation, so this solution is certainly not exact.
Calibration
Compiling
make calibrationcalibrate
This produces a binary file calibration calibrate in the same directory.
Usage
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The reference points used in the calibration (see table) were empirically corrected to the left, as the coordinate system resulting from the generated transformation was slightly shifted to the right. This may have been the case because it is hard to exactly match the reference points to pixels in the image. Subsequent calibrations may yield different errors in the coordinate system.