On board Image Processing

Hi guys, I need some help or advice. I’m working on a project that requires on-board image processing in real time. I have the setup of Navio+ and Raspberry Pi 2 with a Raspberry Pi camera module. I’m struggling with adding the OpenCV library into Ardupilot.
I know that compiling OpenCV project needs adding flags in make file. So, adding a new class in the library is not enought. And that’s where I stuck. Anyone can give some ideas??

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Hi! Do you really need OpenCV in the ArduPilot code base? Better approach would be to run separate OpenCV code and use MAVLink \ MAVProxy \ DroneKit to control ArduPilot.