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It is possible to make drone simulations in Gazebo and using ROS. There is some information from 3D Robotics and Erle Robotics is really good providing ROS + Gazebo support out-of-the-box for their family of robots (see Erle-copter).

Once you have the images published in the ROS ecosystem (you will need to use the gazebo_ros_pkgs wrappers), it should be easy to use all the opencv support in ROS.

About using Java, I don't have previous experience but: the simulation code will probably need to be in C++ (Gazebo does not support Java). Once you have the simulated images in ROS, you can have any mixture of programming languages since ROS use the transport layer for communicating in runtime and does not care about which language you use to create nodes.