diff --git a/photon-client/src/views/PipelineView.vue b/photon-client/src/views/PipelineView.vue
index c1fd52a09c..911d9c6c17 100644
--- a/photon-client/src/views/PipelineView.vue
+++ b/photon-client/src/views/PipelineView.vue
@@ -36,7 +36,7 @@
                 <span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
                 <span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
                 <span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
-                <span v-else>stop viewing the color stream for better performance</span>
+                <span v-else>stop viewing the raw stream for better performance</span>
               </v-chip>
               <v-switch
                 v-model="driverMode"
@@ -136,15 +136,15 @@
                     color="secondary"
                     class="fill"
                   >
-                    <v-icon>mdi-palette</v-icon>
-                    <span>Normal</span>
+                    <v-icon>mdi-import</v-icon>
+                    <span>Raw</span>
                   </v-btn>
                   <v-btn
                     color="secondary"
                     class="fill"
                   >
-                    <v-icon>mdi-compare</v-icon>
-                    <span>Threshold</span>
+                    <v-icon>mdi-export</v-icon>
+                    <span>Processed</span>
                   </v-btn>
                 </v-btn-toggle>
               </v-col>
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
index b6c0a0ceda..7b89a6648b 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -117,9 +117,13 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
             sumPipeNanosElapsed += rotateImageResult.nanosElapsed;
         }
 
+        var inputFrame = new Frame(new CVMat(rawInputMat), frameStaticProperties);
+
         grayscalePipeResult = grayscalePipe.run(rawInputMat);
         sumPipeNanosElapsed += grayscalePipeResult.nanosElapsed;
 
+        var outputFrame = new Frame(new CVMat(grayscalePipeResult.output), frameStaticProperties);
+
         List<TrackedTarget> targetList;
         CVPipeResult<List<DetectionResult>> tagDetectionPipeResult;
 
@@ -127,7 +131,6 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
         aprilTagDetectionPipe.setNativePoseEstimationEnabled(settings.solvePNPEnabled);
 
         tagDetectionPipeResult = aprilTagDetectionPipe.run(grayscalePipeResult.output);
-        grayscalePipeResult.output.release();
         sumPipeNanosElapsed += tagDetectionPipeResult.nanosElapsed;
 
         targetList = new ArrayList<>();
@@ -150,11 +153,6 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
         var fpsResult = calculateFPSPipe.run(null);
         var fps = fpsResult.output;
 
-        var inputFrame = new Frame(new CVMat(rawInputMat), frameStaticProperties);
-        // empty output frame
-        var outputFrame =
-                Frame.emptyFrame(frameStaticProperties.imageWidth, frameStaticProperties.imageHeight);
-
         return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, outputFrame, inputFrame);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
index f1547fd462..1a9eacdab8 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
@@ -120,42 +120,58 @@ public CVPipelineResult process(
             pipeProfileNanos[2] = 0;
         }
 
-        // Draw 2D Crosshair on input and output
-        var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(inMat, targetsToDraw));
+        // Draw 2D Crosshair on output
+        var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
         sumPipeNanosElapsed += pipeProfileNanos[3] = draw2dCrosshairResultOnInput.nanosElapsed;
 
         if (!(settings instanceof AprilTagPipelineSettings)) {
+            // If we're processing anything other than Apriltags...
+
             var draw2dCrosshairResultOnOutput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
             sumPipeNanosElapsed += pipeProfileNanos[4] = draw2dCrosshairResultOnOutput.nanosElapsed;
 
-            // Draw 3D Targets on input and output if necessary
             if (settings.solvePNPEnabled
                     || (settings.solvePNPEnabled
                             && settings instanceof ColoredShapePipelineSettings
                             && ((ColoredShapePipelineSettings) settings).contourShape == ContourShape.Circle)) {
-                var drawOnInputResult = draw3dTargetsPipe.run(Pair.of(inMat, targetsToDraw));
-                sumPipeNanosElapsed += pipeProfileNanos[7] = drawOnInputResult.nanosElapsed;
+                // Draw 3D Targets on input and output if possible
+                pipeProfileNanos[5] = 0;
+                pipeProfileNanos[6] = 0;
+                pipeProfileNanos[7] = 0;
 
                 var drawOnOutputResult = draw3dTargetsPipe.run(Pair.of(outMat, targetsToDraw));
                 sumPipeNanosElapsed += pipeProfileNanos[8] = drawOnOutputResult.nanosElapsed;
             } else {
-                pipeProfileNanos[7] = 0;
-                pipeProfileNanos[8] = 0;
-
-                var draw2dTargetsOnInput = draw2dTargetsPipe.run(Pair.of(inMat, targetsToDraw));
-                sumPipeNanosElapsed += pipeProfileNanos[5] = draw2dTargetsOnInput.nanosElapsed;
+                // Only draw 2d targets
+                pipeProfileNanos[5] = 0;
 
                 var draw2dTargetsOnOutput = draw2dTargetsPipe.run(Pair.of(outMat, targetsToDraw));
                 sumPipeNanosElapsed += pipeProfileNanos[6] = draw2dTargetsOnOutput.nanosElapsed;
+
+                pipeProfileNanos[7] = 0;
+                pipeProfileNanos[8] = 0;
             }
 
         } else {
+            // If we are doing apriltags...
             if (settings.solvePNPEnabled) {
-                var drawOnInputResult = draw3dAprilTagsPipe.run(Pair.of(inMat, targetsToDraw));
+                // Draw 3d Apriltag markers (camera is calibrated and running in 3d mode)
+                pipeProfileNanos[5] = 0;
+                pipeProfileNanos[6] = 0;
+
+                var drawOnInputResult = draw3dAprilTagsPipe.run(Pair.of(outMat, targetsToDraw));
                 sumPipeNanosElapsed += pipeProfileNanos[7] = drawOnInputResult.nanosElapsed;
+
+                pipeProfileNanos[8] = 0;
+
             } else {
-                var draw2dTargetsOnInput = draw2dAprilTagsPipe.run(Pair.of(inMat, targetsToDraw));
+                // Draw 2d apriltag markers
+                var draw2dTargetsOnInput = draw2dAprilTagsPipe.run(Pair.of(outMat, targetsToDraw));
                 sumPipeNanosElapsed += pipeProfileNanos[5] = draw2dTargetsOnInput.nanosElapsed;
+
+                pipeProfileNanos[6] = 0;
+                pipeProfileNanos[7] = 0;
+                pipeProfileNanos[8] = 0;
             }
         }