CMU2 camera Programming

helloO !
i am havin some problem on my project on the C programming on this CMU2 cam which is to be mount on a humanoid robot . it acts as it eyes to read a pole , a line and also two coloured balls (orange and green) . i am told to use "For loop , nested loop" and also "Matrix" . anyone out there got any ideas on this ?
thank you !
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