As part of a project I’m currently working on, I’m trying to figure out how to implement connected component labelling (i.e. blob detection) on a Raspberry Pi 2 so I can implement ball tracking on a soccer robot. I’ve experimented extensively with OpenCV and got something to work, except for the fact that running OpenCV on the Raspberry Pi 2 only yields framerates of ~3fps at 640x480. As a result I’ve decided to try implementing blob detection on the GPU. So far I haven’t actually implemented blob detection, but I have managed to filter based on hue so everything but the ball can be filtered out, and this appears to be far more promising (the GPU is running at over 60 frames/second at 720p with almost no latency.) The part I’m having trouble with is actually doing the connected component labelling. I have found some code (the GPUCL project, located at http://sourceforge.net/projects/gpucl/), however I’m having great difficulty porting it over to openFrameworks (I must admit my knowledge of OpenGL is somewhat limited.)
My question is, does anyone know of any pre-existing code for openFrameworks to do blob detection, or has anyone done this before and knows how to do it? Your assistance would be greatly appreciated, I’m currently tearing my hair out!