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You'll have the easiest time doing your vision processing in either C or Labview.
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Have you guys tried using WPIJavaCV/SmartDashboard? We use it to do image processing and then use NetworkTables to send values back to the robot. I think you may be able to use pure OpenCV functions if you want (via JavaCV) for plenty of power.
Sorry if I'm being redundant...
violinuxer