If it is Vision Processing, I would strongly suggest using RoboRealm, which comes in the KoP for this year.
It has a very efficient and simple tutorial for anything from Targetting to Distance Calculating.
Here is their website:
http://www.roborealm.com/tutorials.php
Just click on the FIRST 2013 Competition section of the page, and it will take you to a list of tutorials for Vision Processing alone.
It also explains how to integrate your processed image into your SmartDashboard project.
Check them out.
FYI: My Team used Roborealm for vision processing with the Kinect, but you may want to think about having a computer ONBOARD so that your cRIO isn't taking all that time processing as it will most definitely cause lag with your communications.
Hope this helps!
