WPILibPi example programs (scroll to bottom of the latest release): https://github.com/wpilibsuite/WPILibPi/releases
Raspbian g++ toolchain: https://github.com/wpilibsuite/raspbian-toolchain/releases/latest
A similar project in python by the Ligerbots: https://github.com/ligerbots/VisionServer
Vision thresholding in ASM: https://github.com/JaciBrunning/neon_vision
Vision processing whitepaper by the Ligerbots: https://www.chiefdelphi.com/uploads/default/original/3X/5/e/5e2fb8ce56e27d7f4f63a97731700e4684d550e4.pdf
WPILib traditional vision guide: https://docs.wpilib.org/en/stable/docs/software/vision-processing/index.html
WPILib ML vision guide: https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/axon/index.html
OpenCV C++ tutorials: https://www.opencv-srf.com/
OpenCV documentation: https://docs.opencv.org/4.x/