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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.



make calibrationcalibrate

This produces a binary file calibration calibrate in the same directory.