diff --git a/Main/chameleon-vision.iml b/Main/chameleon-vision.iml
index 3cf03f6f6..7a7dd6957 100644
--- a/Main/chameleon-vision.iml
+++ b/Main/chameleon-vision.iml
@@ -15,6 +15,12 @@
     <orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-core:2.10.1" level="project" />
     <orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-annotations:2.10.1" level="project" />
     <orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-databind:2.10.1" level="project" />
+    <orderEntry type="library" name="Maven: org.slf4j:slf4j-nop:1.7.26" level="project" />
+    <orderEntry type="library" name="Maven: org.msgpack:msgpack-core:0.8.18" level="project" />
+    <orderEntry type="library" name="Maven: org.msgpack:jackson-dataformat-msgpack:0.8.18" level="project" />
+    <orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-core:2.10.1" level="project" />
+    <orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-annotations:2.10.1" level="project" />
+    <orderEntry type="library" name="Maven: com.fasterxml.jackson.core:jackson-databind:2.10.1" level="project" />
     <orderEntry type="library" name="Maven: io.javalin:javalin:3.4.1" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.31" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib:1.3.31" level="project" />
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
index 0c62abac1..e9645a2f0 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
@@ -35,6 +35,9 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         if (cameraProcess == null) {
             throw new RuntimeException("Pipeline was not initialized before being run!");
         }
+        if(inputMat.cols() <= 1) {
+            throw new RuntimeException("uwu uwu ");
+        }
 
         long totalProcessTimeNanos = 0;
         StringBuilder procTimeStringBuilder = new StringBuilder();
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java
index 16af338d9..f490c4f7f 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java
@@ -7,6 +7,7 @@ public class BlurPipe implements Pipe<Mat, Mat> {
 
     private final int blurSize;
 
+    private Mat processBuffer = new Mat();
     private Mat outputMat = new Mat();
 
     public BlurPipe(int blurSize) {
@@ -17,13 +18,18 @@ public class BlurPipe implements Pipe<Mat, Mat> {
     public Pair<Mat, Long> run(Mat input) {
         long processStartNanos = System.nanoTime();
 
+        // TODO (HIGH) make this blur
+        input.copyTo(processBuffer);
 //        if (blurSize > 0) {
 //            Imgproc.blur(outputMat, outputMat, new Size(blurSize, blurSize));
 //        }
 
+        processBuffer.copyTo(outputMat);
+
         long processTime = processStartNanos - System.nanoTime();
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
-        outputMat.release();
+        processBuffer.release();
+
         return output;
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java
index 06b04357b..e0e86641c 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java
@@ -10,6 +10,7 @@ public class ErodeDilatePipe implements Pipe<Mat, Mat> {
     private final boolean erode, dilate;
     private final Mat kernel;
 
+    private Mat processBuffer = new Mat();
     private Mat outputMat = new Mat();
 
     public ErodeDilatePipe(boolean erode, boolean dilate, int kernelSize) {
@@ -23,16 +24,22 @@ public class ErodeDilatePipe implements Pipe<Mat, Mat> {
         long processStartNanos = System.nanoTime();
 
         if (erode) {
-            Imgproc.erode(outputMat, outputMat, kernel);
+            Imgproc.erode(input, processBuffer, kernel);
         }
 
         if (dilate) {
-            Imgproc.erode(outputMat, outputMat, kernel);
+            Imgproc.erode(processBuffer, processBuffer, kernel);
+        }
+
+        if(!erode && !dilate) {
+            input.copyTo(processBuffer);
         }
 
         long processTime = processStartNanos - System.nanoTime();
+        processBuffer.copyTo(outputMat);
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
-        outputMat.release();
+
+        processBuffer.release();
         return output;
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java
index 490930d0a..058a4bb62 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java
@@ -10,6 +10,7 @@ public class HsvPipe implements Pipe<Mat, Mat> {
 
     private final Scalar hsvLower, hsvUpper;
 
+    private Mat processBuffer = new Mat();
     private Mat outputMat = new Mat();
 
     public HsvPipe(Scalar hsvLower, Scalar hsvUpper) {
@@ -21,13 +22,18 @@ public class HsvPipe implements Pipe<Mat, Mat> {
     public Pair<Mat, Long> run(Mat input) {
         long processStartNanos = System.nanoTime();
 
-        Imgproc.cvtColor(input, outputMat, Imgproc.COLOR_RGB2HSV, 3);
+        // convert from rgb to hsv
+        if(input.empty()) {
+            throw new RuntimeException("HSV input cannot be empty!");
+        }
+        Imgproc.cvtColor(input, processBuffer, Imgproc.COLOR_RGB2HSV, 3);
 
-        Core.inRange(outputMat, hsvLower, hsvUpper, outputMat);
+        Core.inRange(processBuffer, hsvLower, hsvUpper, processBuffer);
 
         long processTime = processStartNanos - System.nanoTime();
+        processBuffer.copyTo(outputMat);
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
-        outputMat.release();
+        processBuffer.release();
         return output;
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java
index 9f4ba8b53..03a67ccdd 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java
@@ -11,6 +11,7 @@ public class RotateFlipPipe implements Pipe<Mat, Mat> {
     private final ImageRotation rotation;
     private final ImageFlipMode flip;
 
+    private Mat processBuffer = new Mat();
     private Mat outputMat = new Mat();
 
     public RotateFlipPipe(ImageRotation rotation, ImageFlipMode flip) {
@@ -22,12 +23,13 @@ public class RotateFlipPipe implements Pipe<Mat, Mat> {
     public Pair<Mat, Long> run(Mat input) {
         long processStartNanos = System.nanoTime();
 
-        Core.flip(input, outputMat, flip.value);
-        Core.rotate(outputMat, outputMat, rotation.value);
+        Core.flip(input, processBuffer, flip.value);
+        Core.rotate(processBuffer, processBuffer, rotation.value);
 
         long processTime = processStartNanos - System.nanoTime();
+        processBuffer.copyTo(outputMat);
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
-        outputMat.release();
+        processBuffer.release();
         return output;
     }
 }