Kalman based Prediction of the ball in space

Given the position (x,y,z) of the ball in real time at (30 frames per second). Given the position of the ball from the camera at i=0 and I want to estimate the position and velocity of the ball at the i =1,2,3,...n. The more and more measurement taken from the camera more accurate our prediction will be.... In have the vision code in C++ and can be interfaced in matlab too... but i prefer the kalman predictor development in the C++...