[Ginto8]

Out of curiosity, why restrict yourself to working on the cRIO? If you are willing to work with OpenCV, you're probably better off integrating it into a SmartDashboard widget on the driver station. At the cost of some extra network latency (although if you're streaming to the drivers you'll have video traffic going there anyway), you can do all the processing on a machine with more power than the cRIO (I believe even the classmate has better than a 400MHz ARM CPU), and which doesn't have a whole lot of processing going on already (ie. all your robot's logic).

For a great example, look at Miss Daisy's 2012 vision system. It's a paper in CD-Media. If you can't find it yourself, I can get you a link.