The following set of 7 tutorials shows the basic of OpenCV functions that can be useful on Vision Based Control. The best way to get familiarized with the language and the program is to type the tutorial's code by yourself and change the annotations by your annotations. This way you get used to the function syntax and how the code flows. OpenCV has a lot of functions to be used on Computer Vision Algorithms , always try to google your question first before start trying to code all by hand ( There is a lot of functions that substitute several lines of code ).
These tutorials will be the basis to understand the Vision Control mechanism to be implemented on the MM-UAV project (Peg-In-Hole task).