For anyone wanting a explanation of what the example code for vision processing is doing, I put up a youtube video here:
https://www.youtube.com/watch?v=m2Pwdq30eSI last year where I explained to my mentor what it was doing. Please bear with it as it is toned down, slow and probably all not incorrect (and long). But I have gotten some good feedback in that my explanation made a lot of sense to even non-programmers. Check it out if your interested.