Look through this post:
http://wpilib.screenstepslive.com/s/...client-pc-side
It shows how to write a program that uses NetworkTables for getting data between the robot program and a desktop program. At the bottom of the page it talks a little about RoboRealm. The idea is that RoboRealm will put the data from your processed image into some NetworkTable variables, then you can just read them on the robot.
You shouldn't have to write your own socket communications code (unless you want to).
That last example on the above web page also has a link to some RoboRealm help.
Does that help?
Brad