diff --git a/Main/src/main/java/com/chameleonvision/config/ConfigManager.java b/Main/src/main/java/com/chameleonvision/config/ConfigManager.java
index 9c8329911..0802a1194 100644
--- a/Main/src/main/java/com/chameleonvision/config/ConfigManager.java
+++ b/Main/src/main/java/com/chameleonvision/config/ConfigManager.java
@@ -67,7 +67,7 @@ public class ConfigManager {
         }
     }
 
-    public static void saveSettings() {
+    public static void saveGeneralSettings() {
         checkSettingsFolder();
         saveSettingsFile();
     }
diff --git a/Main/src/main/java/com/chameleonvision/vision/VisionManager.java b/Main/src/main/java/com/chameleonvision/vision/VisionManager.java
index 628e3b38d..e102b697b 100644
--- a/Main/src/main/java/com/chameleonvision/vision/VisionManager.java
+++ b/Main/src/main/java/com/chameleonvision/vision/VisionManager.java
@@ -7,6 +7,7 @@ import com.chameleonvision.util.Helpers;
 import com.chameleonvision.util.Platform;
 import com.chameleonvision.vision.camera.CameraCapture;
 import com.chameleonvision.vision.camera.USBCameraCapture;
+import com.chameleonvision.vision.pipeline.CVPipeline;
 import com.chameleonvision.vision.pipeline.CVPipelineSettings;
 import edu.wpi.cscore.UsbCamera;
 import edu.wpi.cscore.UsbCameraInfo;
@@ -136,6 +137,7 @@ public class VisionManager {
         return currentUIVisionProcess.getPipelines().stream().map(cvPipeline -> cvPipeline.settings.nickname).collect(Collectors.toList());
     }
 
+
     public static void saveCameras() {
         visionProcesses.forEach((vpm) -> {
             VisionProcess process = vpm.visionProcess;
@@ -149,6 +151,25 @@ public class VisionManager {
         });
     }
 
+    private static String getCurrentCameraName() {
+        return currentUIVisionProcess.getCamera().getProperties().name;
+    }
+
+    public static void saveCurrentCameraSettings() {
+        CameraJsonConfig config = CameraJsonConfig.fromUSBCameraProcess((USBCameraCapture) currentUIVisionProcess.getCamera());
+        ConfigManager.saveCameraConfig(getCurrentCameraName(), config);
+    }
+
+    public static void saveCurrentCameraPipelines() {
+        List<CVPipelineSettings> pipelineSettings = currentUIVisionProcess.getPipelines().stream().map(pipeline -> pipeline.settings).collect(Collectors.toList());
+        ConfigManager.saveCameraPipelines(getCurrentCameraName(), pipelineSettings);
+    }
+
+    public static void saveCurrentCameraDriverMode() {
+        CVPipelineSettings driverModeSettings = currentUIVisionProcess.getDriverModeSettings();
+        ConfigManager.saveCameraDriverMode(getCurrentCameraName(), driverModeSettings);
+    }
+
     public static List<String> getCurrentCameraResolutionList() {
         return currentUIVisionProcess.getCamera().getProperties().getVideoModes().stream().map(Helpers::VideoModeToString).collect(Collectors.toList());
     }
diff --git a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
index f974221f8..fca45771d 100644
--- a/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -35,7 +35,7 @@ public class VisionProcess {
 
     private volatile CVPipelineResult lastPipelineResult;
 
-    BlockingQueue<Mat> streamFrameQueue = new LinkedBlockingDeque<>(1);
+    private BlockingQueue<Mat> streamFrameQueue = new LinkedBlockingDeque<>(1);
 
     // network table stuff
     private final NetworkTable defaultTable;
@@ -323,10 +323,9 @@ public class VisionProcess {
 
     }
 
-    private static class CameraStreamerRunnable extends LoopingRunnable {
+    private class CameraStreamerRunnable extends LoopingRunnable {
 
         final CameraStreamer streamer;
-        private Mat streamBuffer = new Mat();
 
         private CameraStreamerRunnable(int cameraFPS, CameraStreamer streamer) {
             // add 2 FPS to allow for a bit of overhead
@@ -336,7 +335,18 @@ public class VisionProcess {
 
         @Override
         protected void process() {
-
+            try {
+                if (!streamFrameQueue.isEmpty()) {
+                    Mat latestMat = streamFrameQueue.take();
+                    if (!latestMat.empty()) {
+                        streamer.runStream(latestMat);
+                    } else {
+                        System.out.println("stream mat empty");
+                    }
+                }
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
         }
     }
 }
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 898c9e57a..906354328 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
@@ -16,7 +16,6 @@ import static com.chameleonvision.vision.pipeline.CVPipeline2d.*;
 public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSettings> {
 
     private Mat rawCameraMat = new Mat();
-    private Mat hsvOutputMat = new Mat();
 
     private RotateFlipPipe rotateFlipPipe;
     private BlurPipe blurPipe;
@@ -32,13 +31,10 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
     private Draw2dContoursPipe draw2dContoursPipe;
     private OutputMatPipe outputMatPipe;
 
-
     private StringBuilder pipelineTimeStringBuilder = new StringBuilder();
     private CaptureStaticProperties camProps;
     private Scalar hsvLower, hsvUpper;
 
-
-
     public CVPipeline2d() {
         super(new CVPipeline2dSettings());
     }
@@ -128,13 +124,6 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         Pair<Mat, Long> hsvResult = hsvPipe.run(erodeDilateResult.getLeft());
         totalPipelineTimeNanos += hsvResult.getRight();
 
-        // Todo: move to a pipe
-        try {
-            Imgproc.cvtColor(hsvResult.getLeft(), hsvOutputMat, Imgproc.COLOR_GRAY2BGR, 3);
-        } catch (CvException e) {
-            System.err.println("(CVPipeline2d) Exception thrown by OpenCV: \n" + e.getMessage());
-        }
-
         Pair<List<MatOfPoint>, Long> findContoursResult = findContoursPipe.run(hsvResult.getLeft());
         totalPipelineTimeNanos += findContoursResult.getRight();
 
@@ -153,8 +142,8 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         Pair<List<Target2d>, Long> collect2dTargetsResult = collect2dTargetsPipe.run(sortContoursResult.getLeft());
         totalPipelineTimeNanos += collect2dTargetsResult.getRight();
 
-        // takes pair of (Mat of original camera image, Mat of HSV thresholded image)
-        Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rawCameraMat, hsvOutputMat));
+        // takes pair of (Mat of original camera image (8UC3), Mat of HSV thresholded image(8UC1))
+        Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rawCameraMat, hsvResult.getLeft()));
         totalPipelineTimeNanos += outputMatResult.getRight();
 
         // takes pair of (Mat to draw on, List<RotatedRect> of sorted contours)
@@ -175,13 +164,15 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         pipelineTimeStringBuilder.append(String.format("OutputMat: %.2fms, ", outputMatResult.getRight() / 1000000.0));
         pipelineTimeStringBuilder.append(String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000000.0));
 
-        System.out.println(pipelineTimeStringBuilder.toString());
-        double totalPipelineTimeMillis = totalPipelineTimeNanos / 1000000.0;
-        double totalPipelineTimeFPS = 1.0 / (totalPipelineTimeMillis / 1000.0);
-        double truePipelineTimeMillis = (System.nanoTime() - pipelineStartTimeNanos) / 1000000.0;
-        double truePipelineFPS = 1.0 / (truePipelineTimeMillis / 1000.0);
-        System.out.printf("Pipeline processed in %.3fms (%.2fFPS), ", totalPipelineTimeMillis, totalPipelineTimeFPS);
-        System.out.printf("full pipeline run time was %.3fms (%.2fFPS)\n", truePipelineTimeMillis, truePipelineFPS);
+        if (true) {
+            System.out.println(pipelineTimeStringBuilder.toString());
+            double totalPipelineTimeMillis = totalPipelineTimeNanos / 1000000.0;
+            double totalPipelineTimeFPS = 1.0 / (totalPipelineTimeMillis / 1000.0);
+            double truePipelineTimeMillis = (System.nanoTime() - pipelineStartTimeNanos) / 1000000.0;
+            double truePipelineFPS = 1.0 / (truePipelineTimeMillis / 1000.0);
+            System.out.printf("Pipeline processed in %.3fms (%.2fFPS), ", totalPipelineTimeMillis, totalPipelineTimeFPS);
+            System.out.printf("full pipeline run time was %.3fms (%.2fFPS)\n", truePipelineTimeMillis, truePipelineFPS);
+        }
 
         return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalPipelineTimeNanos);
     }
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipelineResult.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipelineResult.java
index bb52018be..81914f0cc 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipelineResult.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipelineResult.java
@@ -7,14 +7,14 @@ import java.util.List;
 public abstract class CVPipelineResult<T> {
     public final List<T> targets;
     public final boolean hasTarget;
-    public final Mat outputMat;
+    public final Mat outputMat = new Mat();
     public final long processTime;
     public long imageTimestamp = 0;
 
     public CVPipelineResult(List<T> targets, Mat outputMat, long processTime) {
         this.targets = targets;
         hasTarget = targets != null && !targets.isEmpty();
-        this.outputMat = outputMat;
+        outputMat.copyTo(this.outputMat);
         this.processTime = processTime;
     }
 
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 3798856d5..215e3ecdd 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
@@ -38,7 +38,7 @@ public class ErodeDilatePipe implements Pipe<Mat, Mat> {
             }
 
             if (dilate) {
-                Imgproc.erode(processBuffer, processBuffer, kernel);
+                Imgproc.dilate(processBuffer, processBuffer, kernel);
             }
 
             processBuffer.copyTo(outputMat);
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 df7972108..82d02228b 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
@@ -1,12 +1,15 @@
 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.imgproc.Imgproc;
 
 public class OutputMatPipe implements Pipe<Pair<Mat, Mat>, Mat> {
 
     private boolean showThresholded;
 
+    private Mat processBuffer = new Mat();
     private Mat outputMat = new Mat();
 
     public OutputMatPipe(boolean showThresholded) {
@@ -17,15 +20,30 @@ public class OutputMatPipe implements Pipe<Pair<Mat, Mat>, Mat> {
         this.showThresholded = showThresholded;
     }
 
+    /**
+     *
+     * @param input Input object for pipe
+     *        Left is raw camera mat (8UC3), Right is HSV threshold mat (8UC1)
+     * @return Returns desired output Mat, and processing time in nanoseconds
+     */
     @Override
     public Pair<Mat, Long> run(Pair<Mat, Mat> input) {
         long processStartNanos = System.nanoTime();
 
-		outputMat = showThresholded ? input.getRight() : input.getLeft();
+        if (showThresholded) {
+            try {
+                input.getRight().copyTo(processBuffer);
+                Imgproc.cvtColor(processBuffer, processBuffer, Imgproc.COLOR_GRAY2BGR, 3);
+                processBuffer.copyTo(outputMat);
+                processBuffer.release();
+            } catch (CvException e) {
+                System.err.println("(OutputMat) Exception thrown by OpenCV: \n" + e.getMessage());
+            }
+        } else {
+            input.getLeft().copyTo(outputMat);
+        }
 
         long processTime = System.nanoTime() - processStartNanos;
-        Pair<Mat, Long> output = Pair.of(outputMat, processTime);
-        outputMat.release();
-        return output;
+        return Pair.of(outputMat, processTime);
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/web/Server.java b/Main/src/main/java/com/chameleonvision/web/Server.java
index 7f8fa656f..121b78634 100644
--- a/Main/src/main/java/com/chameleonvision/web/Server.java
+++ b/Main/src/main/java/com/chameleonvision/web/Server.java
@@ -20,7 +20,7 @@ public class Server {
             ws.onClose(ctx -> {
                 handler.onClose(ctx);
                 System.out.println("Socket Disconnected");
-                ConfigManager.saveSettings();
+                ConfigManager.saveGeneralSettings();
             });
             ws.onBinaryMessage(ctx -> {
                 handler.onBinaryMessage(ctx);
diff --git a/Main/src/main/java/com/chameleonvision/web/ServerHandler.java b/Main/src/main/java/com/chameleonvision/web/ServerHandler.java
index b3608b02d..ee4e984e5 100644
--- a/Main/src/main/java/com/chameleonvision/web/ServerHandler.java
+++ b/Main/src/main/java/com/chameleonvision/web/ServerHandler.java
@@ -58,7 +58,7 @@ public class ServerHandler {
                         for (HashMap.Entry<String, Object> e : data.entrySet()) {
                             setField(ConfigManager.settings, e.getKey(), e.getValue());
                         }
-                        ConfigManager.saveSettings();
+                        ConfigManager.saveGeneralSettings();
                         sendFullSettings();
                         break;
                     }
@@ -68,7 +68,7 @@ public class ServerHandler {
                         currentProcess.getDriverModeSettings().brightness = (Integer) data.get("brightness");
                         currentProcess.setDriverMode((Boolean) data.get("isDriver"));
 
-                        VisionManager.saveCameras();
+                        VisionManager.saveCurrentCameraDriverMode();
                         break;
                     }
                     case "cameraSettings": {
@@ -90,20 +90,20 @@ public class ServerHandler {
 //                            currentCamera.getProperties().setCamVideoMode(newResolution, true);
 //                        }
 
-                        VisionManager.saveCameras();
+                        VisionManager.saveCurrentCameraSettings();
                         sendFullSettings();
                         break;
                     }
                     case "changeCameraName": {
                         currentCamera.getProperties().setNickname((String) entry.getValue());
                         sendFullSettings();
-                        ConfigManager.saveSettings();
+                        VisionManager.saveCurrentCameraSettings();
                         break;
                     }
                     case "changePipelineName": {
                         currentPipeline.settings.nickname = ((String) entry.getValue());
                         sendFullSettings();
-                        ConfigManager.saveSettings();
+                        VisionManager.saveCurrentCameraPipelines();
                         break;
                     }
                     case "duplicatePipeline": {
@@ -121,7 +121,7 @@ public class ServerHandler {
                         } else {
                             currentProcess.addPipeline(origPipeline);
                         }
-                        ConfigManager.saveSettings();
+                        VisionManager.saveCurrentCameraPipelines();
                         break;
                     }
                     case "command": {
@@ -129,7 +129,7 @@ public class ServerHandler {
                             case "addNewPipeline":
                                 currentProcess.addPipeline();
                                 sendFullSettings();
-                                ConfigManager.saveSettings();
+                                VisionManager.saveCurrentCameraPipelines();
                                 break;
                             // TODO: (HIGH) this never worked before, re-visit now that VisionProcess is written sanely
                             case "deleteCurrentPipeline":
@@ -143,10 +143,10 @@ public class ServerHandler {
 //                                cam.deletePipeline();
 //                                cam.setCurrentPipelineIndex(nextIndex);
 //                                sendFullSettings();
-//                                ConfigManager.saveSettings();
+//                                VisionManager.saveCurrentCameraPipelines();
                                 break;
                             case "save":
-                                ConfigManager.saveSettings();
+                                ConfigManager.saveGeneralSettings();
                                 System.out.println("saved Settings");
                                 break;
                         }
@@ -161,17 +161,10 @@ public class ServerHandler {
                     case "currentPipeline": {
                         currentProcess.setPipeline((Integer) entry.getValue(), true);
                         sendFullSettings();
-                        try {
-                            currentCamera.setBrightness((int) currentPipeline.settings.brightness);
-                            currentCamera.setExposure((int) currentPipeline.settings.exposure);
-                        } catch (Exception e) {
-                            continue;
-                        }
                         break;
                     }
                     default: {
                         setField(currentPipeline.settings, entry.getKey(), entry.getValue());
-
                         switch (entry.getKey()) {
                             case "exposure": {
                                 currentCamera.setExposure((Integer) entry.getValue());