I do not think you can do what your looking for. I think first really shafted the java programmers this season! I digress, I think you might have to use a usb webcam for that. In the beginning i was playing around with the vision and stuff, but it seems like you will need a co-processor anyways. I did a solid week of research on this topic before I got a semi workable vision prototype. I only use OpenCV(for image processing) and the network tables to communicate to the robot. You can find the
github link here!