cmucam3-hardware (#1) - tracking multiple laser points (#207) - Message List

The current track color code only returns one object. In order to track multiple objects of the same color you would need to do some connected component analysis to tell when one object ends and another begins. It is possible to do this in a scan-line fashion, but I don't think anyone has any working code that does it. If you don't mind reducing the image resolution to the point that you can fit a binary image in memory, you can do a simple recursive connected component detector.

There is some sample code that does something similar in: http://www.cmucam.org/browser/trunk/lib/cc3-ilp called cc3_connected_component.c. This code is used internally for the polly algorithm to remove small objects and does not provide an easy way to do color tracking.