Computer Vision recognition with color and following


I had a few questions about programming a px4 project using computer vision with color. The documentation seems to only have computer vision when it comes to motion. Maybe I overlooked it? The project I am working on requires the recognition to be done with color. Are there any libraries I could use that would be good with this?

I also want the drone to follow the other vehicle once it recognizes it, any advice moving forward with this item?