Hello all,
I've seen a few threads on vision processing recently. Good timing, I'm releasing C++ code for managing vision functions that have been offloaded to a coprocessor (Odroid XU3 in our case). Communication between the roboRio and the coprocessor is message-based (zeromq) and asynchronous, so it won't block inside AutonomousPeriodic() or TeleopPeriodic(). Basically you send commands to the coprocessor and you use polling to get the results. Command handling is multithreaded (commands are executed in parallel), and adding new commands (e.g. based on OpenCV) should be easy if you follow the documentation.
Drop me a note if you have installation/implementation issues...
https://github.com/team3990/TechVisionCoproc
Marc