On this basis, I would say you could simplify the task significantly by applying a set of pre-processing steps to "collapse" the range of colours in the image. The problems you initially described seem to be related to some of the finer, random detail present in the image - especially in the background and in the different shading/poses of the ball. The balls seem pretty distinct in terms of colour. Probably there is much easier way to solve this problem (maybe a library that I don't know yet) but for now I can't find one. Surprisingly it still has false negatives\positives. If there are two balls of the same color matchTemplate loses information about 2nd ball). I tried to improve the process by matching balls not with the entire field but with each block (this method has advantage that it checks each block and should detect correct number of balls in the field, when matching with entire field only gives one location for each color of ball. This function worked well but unfortunately it sometimes misses some balls in the field or assigns two different types of balls (say green and yellow) for one ball.
I made all possible variations of balls (20 overall), and passed them with the entire field. If maxLoc is close to 1 then the image is probably in source image. This function matches image with another source image and along with minMaxLoc function returns a value maxLoc. Second, I tried to use openCV module that has matchTemplate function.
Even different empty blocks vary in such sums significantly. The problem is it's hard to find good value for 'similarity'. If block's array has a similar as ball's array I suggest that this block has a ball. Then I sum RGB colors for each block in the field. I sum RGB colors for each ball and get array.
My problem is that I'm not able to find balls correctly. I cropped each block in the field such that I can just check each block whether it contains a ball or not. Balls may have 5 different colors and also they can be directed to any of 4 directions (depending on eyes' location). I chose Fling that has almost no dynamics and all I needed to do was to find balls.
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