[RoboMaster]

Look around in the Vision and FRC Vision palettes for basic stuff. You might be able to accomplish what you're trying with blob recognition and filtering.
If you really want to go high class, FIRST has let us use NI's vision software for making custom VIs for specific vision purposes. It's quite advanced but there is documentation lying around somewhere; look around NI's help community at ni.com/first.

Agreed, this isn't a walk in the park, prepare for some research. Usually FIRST gives us code specific to the game that will allow us to do this. In the past couple years the code they have given us was quite helpful if you used it right.