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I think the cheapest camera to make due with is a Webcam, thus an USB / USB2.0 interface.
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The Terasic DE2 series have a full-speed USB OTG controller, its an NXP ISP1362. You could boot Linux on the DE2-115, configure the ISP1362 to stream data from a USB camera to an Avalon-MM slave, and process images in your custom logic.
If your camera uses Ethernet, then you would still probably need Linux so that you can leverage the TCP/IP stack, and stream data again to your custom Avalon-MM slave.
I think the DE2-70 and DE2-115 have enough logic and memory to run Linux.
Cheers,
Dave