Some tests with tracking enabled for 4 colours seems to work fine. With current algorithm will be able to track up to 8 colours simultaneously. Still using YUV format instead of RGB and seems to work pretty well even with light variation (from very bright to dimmed light).
Anyway, bellow the first image is what camera sees:
Then what the algorithm detects (swap colours to make it more obvious: red with blue and green with yellow):
And as seen after processing:
CTS module will be able to generate all these outputs based on the command sent to it when pulling the data. For tracking purpose, however, CTS will generate data for each colour (one blob per colour) for each frame. Details on how to program and data format are described here.