Need Help with vision tracking in Java

[Lloydpro]

So this is only my second year in robotics and I haven't had a lot of experience with the vision side. My team has decided that they want to stack all the totes during autonomous by ourselves, but in order to do that we will need to be able to process the image from the camera into values that we can analyze and act to accordingly. I unfortunately do not know what the vision methods do, and since there are so many of them, it is a little hard to understand what they all do and use them.
However I do have an idea as to what I want to do. I want to take the image that the camera gives me and turn it into a binary array, then scan the array for how many 1s are on each side, and then shift the robot to whichever side has less 1s. I just can't seem to turn this into actual code. I mainly just need a method from the NIVision class that will take the image and turn it into binary. Does anyone know what I might be able to use and can you explain how the method works and how to set up the parameters? Any advice is greatly appreciated. If you have questions, feel free to ask.