diff --git a/Main/src/main/java/Handlers/Vision/CameraProcess.java b/Main/src/main/java/Handlers/Vision/CameraProcess.java
index 1a350f80e..504227741 100644
--- a/Main/src/main/java/Handlers/Vision/CameraProcess.java
+++ b/Main/src/main/java/Handlers/Vision/CameraProcess.java
@@ -23,14 +23,16 @@ public class CameraProcess implements Runnable{
 
         //calling all classes
         CameraServer cs = CameraServer.getInstance();
-//        NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
+        NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
         SettingsManager manager = SettingsManager.getInstance();
         manager.CamerasCurrentPipeline.put(CameraName,manager.Cameras.get(CameraName).pipelines.keySet().toArray()[0].toString());
         //Setting up camera and network table
-//        var Table = networkTableInstance.getTable("/Chameleon-Vision/" + CameraName);
-//        var PipeLineEntry = Table.getEntry("Pipeline");
-//        var DriverModeEntry =  Table.getEntry("Driver_Mode");
+        var Table = networkTableInstance.getTable("/Chameleon-Vision/" + CameraName);
+        var PipeLineEntry = Table.getEntry("Pipeline");
+        var DriverModeEntry =  Table.getEntry("Driver_Mode");
         var cv_sink = cs.getVideo(manager.UsbCameras.get(CameraName));
+
+
         int Width = manager.Cameras.get(CameraName).camVideoMode.width;
         int Height = manager.Cameras.get(CameraName).camVideoMode.heigh;
         var cv_publish = cs.putVideo(CameraName,Width,Height);
@@ -53,10 +55,13 @@ public class CameraProcess implements Runnable{
         while (!Thread.interrupted()){
             Pipeline pipeline = manager.Cameras.get(CameraName).pipelines.get(manager.CamerasCurrentPipeline.get(CameraName));
             time = cv_sink.grabFrame(mat);
-//            Mat HSVImage = visionProcess.HSVThreshold(pipeline.hue,pipeline.saturation,pipeline.value,mat,pipeline.erode,pipeline.dilate);
-//            List<MatOfPoint> Contours = visionProcess.FindContours(HSVImage);
-//            List<MatOfPoint> FilterdContours = visionProcess.FilterContours(Contours,pipeline.area,pipeline.ratio,pipeline.extent,pipeline.sort_mode,pipeline.target_intersection,pipeline.target_group);
-            cv_publish.putFrame(mat);
+            if (mat.cols() !=0 && mat.rows() != 0) {
+                Mat HSVImage = visionProcess.HSVThreshold(pipeline.hue, pipeline.saturation, pipeline.value, mat, pipeline.erode, pipeline.dilate);
+//                List<MatOfPoint> Contours = visionProcess.FindContours(HSVImage);
+//                List<MatOfPoint> FilterdContours = visionProcess.FilterContours(Contours, pipeline.area, pipeline.ratio, pipeline.extent, pipeline.sort_mode, pipeline.target_intersection, pipeline.target_group);
+                cv_publish.putFrame(mat);
+            }
+
         }
 
     }
diff --git a/Main/src/main/java/Handlers/Vision/VisionProcess.java b/Main/src/main/java/Handlers/Vision/VisionProcess.java
index a53581808..90b5ae055 100644
--- a/Main/src/main/java/Handlers/Vision/VisionProcess.java
+++ b/Main/src/main/java/Handlers/Vision/VisionProcess.java
@@ -30,7 +30,7 @@ public class VisionProcess {
         Imgproc.cvtColor(image,hsv,Imgproc.COLOR_BGR2HSV,3);
         new Scalar(hue.get(0),saturation.get(0),value.get(0));
         Mat threshold = new Mat();
-        Core.inRange(threshold,new Scalar(hue.get(0),saturation.get(0),value.get(0)),new Scalar(hue.get(1),saturation.get(1),value.get(1)),threshold);
+        Core.inRange(hsv,new Scalar(hue.get(0),saturation.get(0),value.get(0)),new Scalar(hue.get(1),saturation.get(1),value.get(1)),threshold);
         if (IsErode){
             Imgproc.erode(threshold,threshold, Kernel);
         }