diff --git a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
index bc75347fa..578171845 100644
--- a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -362,13 +362,11 @@ public class VisionProcess {
                     result = currentPipeline.runPipeline(streamBuffer);
                     lastPipelineResult = result;
 
-                    var yes = lastPipelineResult==null;
+                    if (result != null) {
+                        updateNetworkTableData(lastPipelineResult);
+                        updateUI(lastPipelineResult);
+                    }
 
-                    updateNetworkTableData(lastPipelineResult);
-                    updateUI(lastPipelineResult);
-
-                } else {
-//                    System.err.println("Bad streambuffer mat");
                 }
 
                 var deltaTimeNanos = lastUpdateTimeNanos - System.nanoTime();
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 e9645a2f0..fd057df30 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
@@ -31,6 +31,8 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
 
     @Override
     public CVPipeline2dResult runPipeline(Mat inputMat) {
+        long totalProcessTimeNanos = 0;
+        long processStartTimeNanos = System.nanoTime();
 
         if (cameraProcess == null) {
             throw new RuntimeException("Pipeline was not initialized before being run!");
@@ -39,12 +41,13 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
             throw new RuntimeException("uwu uwu ");
         }
 
-        long totalProcessTimeNanos = 0;
         StringBuilder procTimeStringBuilder = new StringBuilder();
 
         CameraStaticProperties camProps = cameraProcess.getProperties().staticProperties;
 
-		rawCameraMat = inputMat;
+        inputMat.copyTo(rawCameraMat);
+
+//		rawCameraMat = inputMat;
 
         // prepare pipes
         RotateFlipPipe rotateFlipPipe = new RotateFlipPipe(ImageRotation.DEG_0, settings.flipMode);
@@ -75,67 +78,77 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
 
         Draw2dContoursPipe draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
 
+        long pipeInitTimeNanos = System.nanoTime() - processStartTimeNanos;
+        totalProcessTimeNanos += pipeInitTimeNanos;
+        procTimeStringBuilder.append(String.format("PipeInit: %.2fms, ", pipeInitTimeNanos / 1000000.0));
+
         // run pipes
         Pair<Mat, Long> rotateFlipResult = rotateFlipPipe.run(inputMat);
         totalProcessTimeNanos += rotateFlipResult.getRight();
-        procTimeStringBuilder.append(String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000000.0));
 
         Pair<Mat, Long> blurResult = blurPipe.run(rotateFlipResult.getLeft());
         totalProcessTimeNanos += blurResult.getRight();
-        procTimeStringBuilder.append(String.format("Blur: %.2fms, ", blurResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("Blur: %.2fms, ", blurResult.getRight() / 1000000.0));
 
         Pair<Mat, Long> erodeDilateResult = erodeDilatePipe.run(blurResult.getLeft());
         totalProcessTimeNanos += erodeDilateResult.getRight();
-        procTimeStringBuilder.append(String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000000.0));
 
         Pair<Mat, Long> hsvResult = hsvPipe.run(erodeDilateResult.getLeft());
         totalProcessTimeNanos += hsvResult.getRight();
-        Imgproc.cvtColor(hsvResult.getLeft(), hsvOutputMat, Imgproc.COLOR_GRAY2BGR, 3);
-        procTimeStringBuilder.append(String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000.0));
+
+        try {
+            Imgproc.cvtColor(hsvResult.getLeft(), hsvOutputMat, Imgproc.COLOR_GRAY2BGR, 3);
+        } catch (CvException e) {
+            System.err.println("(CVPipeline2d) Exception thrown by OpenCV: \n" + e.getMessage());
+        }
+
+        procTimeStringBuilder.append(String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000000.0));
 
         Pair<List<MatOfPoint>, Long> findContoursResult = findContoursPipe.run(hsvResult.getLeft());
         totalProcessTimeNanos += findContoursResult.getRight();
-        procTimeStringBuilder.append(String.format("FindContours: %.2fms, ", findContoursResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("FindContours: %.2fms, ", findContoursResult.getRight() / 1000000.0));
 
         Pair<List<MatOfPoint>, Long> filterContoursResult = filterContoursPipe.run(findContoursResult.getLeft());
         totalProcessTimeNanos += filterContoursResult.getRight();
-        procTimeStringBuilder.append(String.format("FilterContours: %.2fms, ", filterContoursResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("FilterContours: %.2fms, ", filterContoursResult.getRight() / 1000000.0));
 
         Pair<List<MatOfPoint>, Long> speckleRejectResult = speckleRejectPipe.run(filterContoursResult.getLeft());
         totalProcessTimeNanos += speckleRejectResult.getRight();
-        procTimeStringBuilder.append(String.format("SpeckleReject: %.2fms, ", speckleRejectResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("SpeckleReject: %.2fms, ", speckleRejectResult.getRight() / 1000000.0));
 
         Pair<List<RotatedRect>, Long> groupContoursResult = groupContoursPipe.run(speckleRejectResult.getLeft());
         totalProcessTimeNanos += groupContoursResult.getRight();
-        procTimeStringBuilder.append(String.format("GroupContours: %.2fms, ", groupContoursResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("GroupContours: %.2fms, ", groupContoursResult.getRight() / 1000000.0));
 
         Pair<List<RotatedRect>, Long> sortContoursResult = sortContoursPipe.run(groupContoursResult.getLeft());
         totalProcessTimeNanos += sortContoursResult.getRight();
-        procTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0));
 
         Pair<List<Target2d>, Long> collect2dTargetsResult = collect2dTargetsPipe.run(sortContoursResult.getLeft());
         totalProcessTimeNanos += collect2dTargetsResult.getRight();
-        procTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0));
 
         // takes pair of (Mat of original camera image, Mat of HSV thresholded image)
         Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rawCameraMat, hsvOutputMat));
         totalProcessTimeNanos += outputMatResult.getRight();
-        procTimeStringBuilder.append(String.format("OutputMat: %.2fms, ", outputMatResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("OutputMat: %.2fms, ", outputMatResult.getRight() / 1000000.0));
 
         // takes pair of (Mat to draw on, List<RotatedRect> of sorted contours)
         Pair<Mat, Long> draw2dContoursResult = draw2dContoursPipe.run(Pair.of(outputMatResult.getLeft(), sortContoursResult.getLeft()));
         totalProcessTimeNanos += draw2dContoursResult.getRight();
-        procTimeStringBuilder.append(String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000.0));
+        procTimeStringBuilder.append(String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000000.0));
 
         System.out.println(procTimeStringBuilder.toString());
-        System.out.printf("Pipeline ran in %.3fms\n", totalProcessTimeNanos / 1000.0);
+        System.out.printf("Pipeline ran in %.3fms\n", totalProcessTimeNanos / 1000000.0);
 
-        return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalProcessTimeNanos / 1000);
+        return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalProcessTimeNanos);
     }
 
     public static class     CVPipeline2dResult extends CVPipelineResult<Target2d> {
-        public CVPipeline2dResult(List<Target2d> targets, Mat outputMat, long processTime) {
-            super(targets, outputMat, processTime);
+        public CVPipeline2dResult(List<Target2d> targets, Mat outputMat, long processTimeNanos) {
+            super(targets, outputMat, processTimeNanos);
         }
     }
 
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 f490c4f7f..51a216a8e 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
@@ -1,7 +1,10 @@
 package com.chameleonvision.vision.pipeline.pipes;
 
 import org.apache.commons.lang3.tuple.Pair;
+import org.opencv.core.CvException;
 import org.opencv.core.Mat;
+import org.opencv.core.Size;
+import org.opencv.imgproc.Imgproc;
 
 public class BlurPipe implements Pipe<Mat, Mat> {
 
@@ -18,15 +21,15 @@ 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));
-//        }
+        try {
+            if (blurSize > 0) {
+                Imgproc.blur(outputMat, outputMat, new Size(blurSize, blurSize));
+            }
+        } catch (CvException e) {
+            System.err.println("(BlurPipe) Exception thrown by OpenCV: \n" + e.getMessage());
+        }
 
-        processBuffer.copyTo(outputMat);
-
-        long processTime = processStartNanos - System.nanoTime();
+        long processTime = System.nanoTime() - processStartNanos;
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
         processBuffer.release();
 
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
index 3d9fcf0ba..cb0111c76 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
@@ -56,7 +56,7 @@ public class Collect2dTargetsPipe implements Pipe<List<RotatedRect>, List<CVPipe
             targets.add(t);
         });
 
-        long processTime = processStartNanos - System.nanoTime();
+        long processTime = System.nanoTime() - processStartNanos;
         return Pair.of(targets, processTime);
     }
 
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
index 4eceeee24..ebbab7d1b 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
@@ -65,7 +65,7 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
             }
         }
 
-        long processTime = processStartNanos - System.nanoTime();
+        long processTime = System.nanoTime() - processStartNanos;
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
         outputMat.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 e0e86641c..adb26805f 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
@@ -35,8 +35,7 @@ public class ErodeDilatePipe implements Pipe<Mat, Mat> {
             input.copyTo(processBuffer);
         }
 
-        long processTime = processStartNanos - System.nanoTime();
-        processBuffer.copyTo(outputMat);
+        long processTime = System.nanoTime() - processStartNanos;
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
 
         processBuffer.release();
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/FilterContoursPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/FilterContoursPipe.java
index 404bbcd5a..429b79052 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/FilterContoursPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/FilterContoursPipe.java
@@ -56,7 +56,7 @@ public class FilterContoursPipe implements Pipe<List<MatOfPoint>, List<MatOfPoin
             }
         }
 
-        long processTime = processStartNanos - System.nanoTime();
+        long processTime = System.nanoTime() - processStartNanos;
         return Pair.of(filteredContours, processTime);
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/FindContoursPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/FindContoursPipe.java
index 7d35debcf..5a7f77adf 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/FindContoursPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/FindContoursPipe.java
@@ -20,7 +20,7 @@ public class FindContoursPipe implements Pipe<Mat, List<MatOfPoint>> {
 
         Imgproc.findContours(input, foundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_L1);
 
-        long processTime = processStartNanos - System.nanoTime();
+        long processTime = System.nanoTime() - processStartNanos;
         return Pair.of(foundContours, processTime);
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
index db3a374e6..4f9581b31 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
@@ -85,7 +85,7 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<RotatedRec
             }
         }
 
-        long processTime = processStartNanos - System.nanoTime();
+        long processTime = System.nanoTime() - processStartNanos;
         return Pair.of(groupedContours, processTime);
     }
 
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 058a4bb62..9fd5fe42e 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
@@ -2,6 +2,7 @@ package com.chameleonvision.vision.pipeline.pipes;
 
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Core;
+import org.opencv.core.CvException;
 import org.opencv.core.Mat;
 import org.opencv.core.Scalar;
 import org.opencv.imgproc.Imgproc;
@@ -22,16 +23,14 @@ public class HsvPipe implements Pipe<Mat, Mat> {
     public Pair<Mat, Long> run(Mat input) {
         long processStartNanos = System.nanoTime();
 
-        // convert from rgb to hsv
-        if(input.empty()) {
-            throw new RuntimeException("HSV input cannot be empty!");
+        try {
+            Imgproc.cvtColor(input, outputMat, Imgproc.COLOR_RGB2HSV, 3);
+            Core.inRange(outputMat, hsvLower, hsvUpper, outputMat);
+        } catch (CvException e) {
+            System.err.println("(HsvPipe) Exception thrown by OpenCV: \n" + e.getMessage());
         }
-        Imgproc.cvtColor(input, processBuffer, Imgproc.COLOR_RGB2HSV, 3);
 
-        Core.inRange(processBuffer, hsvLower, hsvUpper, processBuffer);
-
-        long processTime = processStartNanos - System.nanoTime();
-        processBuffer.copyTo(outputMat);
+        long processTime = System.nanoTime() - processStartNanos;
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
         processBuffer.release();
         return output;
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/OutputMatPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/OutputMatPipe.java
index f0dc2af3d..7593a2ca8 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/OutputMatPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/OutputMatPipe.java
@@ -19,7 +19,7 @@ public class OutputMatPipe implements Pipe<Pair<Mat, Mat>, Mat> {
 
 		outputMat = showThresholded ? input.getRight() : input.getLeft();
 
-        long processTime = processStartNanos - System.nanoTime();
+        long processTime = System.nanoTime() - processStartNanos;
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
         outputMat.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 03a67ccdd..cb7378d5c 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
@@ -26,8 +26,7 @@ public class RotateFlipPipe implements Pipe<Mat, Mat> {
         Core.flip(input, processBuffer, flip.value);
         Core.rotate(processBuffer, processBuffer, rotation.value);
 
-        long processTime = processStartNanos - System.nanoTime();
-        processBuffer.copyTo(outputMat);
+        long processTime = System.nanoTime() - processStartNanos;
         Pair<Mat, Long> output = Pair.of(outputMat, processTime);
         processBuffer.release();
         return output;
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java
index 1a6934849..89454222a 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java
@@ -64,7 +64,7 @@ public class SortContoursPipe implements Pipe<List<RotatedRect>, List<RotatedRec
                 break;
         }
 
-        long processTime = processStartNanos - System.nanoTime();
+        long processTime = System.nanoTime() - processStartNanos;
         return Pair.of(sortedContours, processTime);
     }
 
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SpeckleRejectPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SpeckleRejectPipe.java
index b8ea1af4d..ebbd8ab52 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SpeckleRejectPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SpeckleRejectPipe.java
@@ -37,7 +37,7 @@ public class SpeckleRejectPipe implements Pipe<List<MatOfPoint>, List<MatOfPoint
             }
         }
 
-        long processTime = processStartNanos - System.nanoTime();
+        long processTime = System.nanoTime() - processStartNanos;
         return Pair.of(despeckledContours, processTime);
     }
 }