Auto-tracking camera control - repost

I need an application that can control a moving system based on stepper motors, x and y axis, with a camera on top. The program should process the image on every frame to analyzes the contour of every object in the front of camera, calculate the mean of the edge contour points and follow ( x and y axis ) that object by its moves. I have a link for you to understand more better: [login to view URL] I also have a controller board based on USB port with 2 stepper motors. The application should be done in C++ code , must be very simple to understand and every code line should be commented. I also need a documentation for this application if it is possible. I can work with milestone only.