diff --git a/vision/OpenCVWorkTask.cpp b/vision/OpenCVWorkTask.cpp
new file mode 100644
index 0000000..89f168d
--- /dev/null
+++ b/vision/OpenCVWorkTask.cpp
@@ -0,0 +1,123 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <sys/mman.h>
+#include <errno.h>
+#include <string.h>
+#include <vector>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#include <arpa/inet.h>
+#include "opencv2/opencv.hpp"
+
+#include "aos/common/time.h"
+#include "aos/atom_code/camera/Buffers.h"
+#include "aos/externals/libjpeg/include/jpeglib.h"
+
+#include "vision/OpenCVWorkTask.h"
+#include "vision/CameraProcessor.h"
+#include "vision/BinaryServer.h"
+#include "vision/PacketNotifier.h"
+#include "vision/JPEGRoutines.h"
+
+
+
+namespace frc971 {
+namespace vision {
+
+}  // namespace vision
+}  // namespace frc971
+
+void reciever_main(frc971::vision::PacketNotifier *notify){
+  frc971::vision::BinaryServer test(8020,notify);
+}
+
+#include "frc971/queues/CameraTarget.q.h"
+using frc971::vision::targets;
+
+#include <iostream>
+void sender_main(frc971::vision::PacketNotifier *notify){
+  ::aos::InitNRT();
+  ::aos::camera::Buffers buffers;
+  CvSize size;
+  size.width = ::aos::camera::Buffers::Buffers::kWidth;
+  size.height = ::aos::camera::Buffers::Buffers::kHeight;
+
+  // create processing object
+  ProcessorData processor(size.width, size.height, false);
+
+  printf("started sender main\n");
+  while(true){
+    //usleep(7500);
+    size_t data_size;
+  	timeval timestamp_timeval;
+    const void *image = buffers.GetNext(
+			true, &data_size, &timestamp_timeval, NULL);
+	::aos::time::Time timestamp(timestamp_timeval);
+
+    //TODO(pschuh): find proper way to cast away const for this: :(
+	// parker you prolly want const_cast<type>(var);
+    printf("\nNew Image Recieved\n");
+    std::cout << timestamp << std::endl; 
+    unsigned char *buffer = (unsigned char *)notify->GetBuffer();
+	frc971::vision::process_jpeg(buffer, (unsigned char *)image, data_size);
+    // build the headers on top of the buffer
+	cvSetData(processor.src_header_image,
+			buffer,
+			::aos::camera::Buffers::Buffers::kWidth * 3);
+
+	// transform the buffer into targets
+	processor.threshold(buffer);
+	processor.getContours();
+	processor.filterToTargets();
+
+	// could be used for debug ie drawContours
+	//std::vector<std::vector<cv::Point> > target_contours;
+	//std::vector<std::vector<cv::Point> > best_contours;
+	std::vector<Target>::iterator target_it;
+	Target *best_target = NULL;
+	// run through the targets
+	for(target_it = processor.target_list.begin();
+			target_it != processor.target_list.end(); target_it++){
+		//target_contours.push_back(*(target_it->this_contour));
+		// select the highest target
+		if (best_target == NULL) {
+			best_target = &*target_it;
+		} else {
+			if (target_it->height < best_target->height) {
+				best_target = &*target_it;
+			}
+		}
+	}
+	// if we found one then send it on
+	if (best_target != NULL) {
+        targets.MakeWithBuilder()
+          .percent_azimuth_off_center(
+		  		  best_target->rect.centroid.y / (double)::aos::camera::Buffers::kHeight - 0.5)
+          .percent_elevation_off_center(
+		  		  best_target->rect.centroid.x / (double)::aos::camera::Buffers::kWidth - 0.5)
+          .timestamp(timestamp.ToNSec())
+          .Send();
+    }
+    notify->Notify();
+  }
+  ::aos::Cleanup();
+}
+
+
+int main(int /*argc*/, char** /*argv*/){
+  frc971::vision::PacketNotifier *notify = frc971::vision::PacketNotifier::MMap(
+      ::aos::camera::Buffers::kHeight * ::aos::camera::Buffers::kWidth * 3);
+  pid_t pid = fork();
+  if(pid < 0){
+    fprintf(stderr,"%s:%d: Error in fork()\n",__FILE__,__LINE__);
+  }
+  if(pid == 0){
+    notify->RegisterSender();
+    sender_main(notify);
+  }else{
+    notify->RegisterReciever();
+    reciever_main(notify);
+  }
+}
+