We present a framework for fast prototyping of embedded video applications. Starting with a high-level executable specification written in OpenCV, we apply semi-automatic refinements of the specification at various levels (TLM and RTL), the lowest of which is a system-on-chip prototype in FPGA. The refinement leverages the structure of image processing applications to map high-level representations to lower level implementation with limited user intervention. Our framework integrates the computer vision library OpenCV for software, SystemC/TLM for high-level hardware representation, UVM and QEMU-OS for virtual prototyping and verification into a single and uniform design and verification flow. With applications in the field of driving assistance and object recognition, we prove the usability of our framework in producing performance and correct design.