diff --git a/971CV/src/edu/wpi/first/wpijavacv/DaisyExtensions.java b/971CV/src/edu/wpi/first/wpijavacv/DaisyExtensions.java
index 31647fb..41dccb7 100644
--- a/971CV/src/edu/wpi/first/wpijavacv/DaisyExtensions.java
+++ b/971CV/src/edu/wpi/first/wpijavacv/DaisyExtensions.java
@@ -18,6 +18,7 @@
  */
 public class DaisyExtensions {
     private final CvMemStorage storage = CvMemStorage.create();
+    private IplImage contourImage;
 
     public DaisyExtensions() {
     }
@@ -59,14 +60,20 @@
     public WPIContour[] findConvexContours(WPIBinaryImage image) {
         image.validateDisposed();
 
-        // TODO(jerry): Reuse tempImage from frame to frame.
-        IplImage tempImage = IplImage.create(image.image.cvSize(),
-        	image.image.depth(), 1);
+        if (contourImage == null
+                || contourImage.cvSize().width() != image.getWidth()
+                || contourImage.cvSize().height() != image.getHeight()) {
+            if (contourImage != null) {
+                contourImage.release();
+            }
+            contourImage = IplImage.create(image.image.cvSize(),
+                    image.image.depth(), 1);
+        }
 
-        opencv_core.cvCopy(image.image, tempImage);
+        opencv_core.cvCopy(image.image, contourImage);
 
         CvSeq contours = new CvSeq();
-        opencv_imgproc.cvFindContours(tempImage, storage, contours, 256,
+        opencv_imgproc.cvFindContours(contourImage, storage, contours, 256,
         	opencv_imgproc.CV_RETR_LIST,
         	opencv_imgproc.CV_CHAIN_APPROX_TC89_KCOS);
         ArrayList<WPIContour> results = new ArrayList<WPIContour>();
@@ -79,7 +86,6 @@
             contours = contours.h_next();
         }
 
-        tempImage.release();
         WPIContour[] array = new WPIContour[results.size()];
         return results.toArray(array);
     }
diff --git a/971CV/src/org/frc971/DebugCanvas.java b/971CV/src/org/frc971/DebugCanvas.java
index 3be9a45..484620c 100644
--- a/971CV/src/org/frc971/DebugCanvas.java
+++ b/971CV/src/org/frc971/DebugCanvas.java
@@ -4,7 +4,7 @@
 import com.googlecode.javacv.cpp.opencv_core.IplImage;
 
 public class DebugCanvas {
-    public static boolean show = true;
+    public boolean show;
     private CanvasFrame canvasFrame;
     private String name;
 
diff --git a/971CV/src/org/frc971/Recognizer.java b/971CV/src/org/frc971/Recognizer.java
index c8818b7..6ab6455 100644
--- a/971CV/src/org/frc971/Recognizer.java
+++ b/971CV/src/org/frc971/Recognizer.java
@@ -14,12 +14,15 @@
      * Sets the HSV filter to allow H in [minHue .. maxHue], S >= minSat,
      * V >= minVal.
      */
-    public void setHSVRange(int minHue, int maxHue, int minSat, int minVal);
+    void setHSVRange(int minHue, int maxHue, int minSat, int minVal);
 
-    public int getHueMin();
-    public int getHueMax();
-    public int getSatMin();
-    public int getValMin();
+    int getHueMin();
+    int getHueMax();
+    int getSatMin();
+    int getValMin();
+
+    /** Enables/disables windows to view intermediate stages, for tuning. */
+    void showIntermediateStages(boolean enable);
 
     /**
      * Processes a camera image, returning an image to display for targeting
diff --git a/971CV/src/org/frc971/Recognizer2013.java b/971CV/src/org/frc971/Recognizer2013.java
index ff34fda..d2de431 100644
--- a/971CV/src/org/frc971/Recognizer2013.java
+++ b/971CV/src/org/frc971/Recognizer2013.java
@@ -94,6 +94,12 @@
     public int getValMin() { return min1Val - 1; }
 
     @Override
+    public void showIntermediateStages(boolean enable) {
+        thresholdedCanvas.show = enable;
+        morphedCanvas.show = enable;
+    }
+
+    @Override
     public WPIImage processImage(WPIColorImage cameraImage) {
         // (Re)allocate the intermediate images if the input is a different
         // size than the previous image.
diff --git a/971CV/src/org/frc971/VisionTuner.java b/971CV/src/org/frc971/VisionTuner.java
index 663b2f1..c231743 100644
--- a/971CV/src/org/frc971/VisionTuner.java
+++ b/971CV/src/org/frc971/VisionTuner.java
@@ -35,6 +35,9 @@
 /**
  * FRC 2013 vision-target recognizer tuner app.
  *
+ * <p>
+ * See {@link #processEvents()} for the keystroke commands.
+ *
  * @author jerry
  */
 public class VisionTuner {
@@ -50,15 +53,16 @@
     private final JSlider satMinSlider = new JSlider();
     private final JSlider valMinSlider = new JSlider();
 
-    private static int totalFrames;
-    private static double totalMsec;
-    //    private static double minMsec = Double.MAX_VALUE;
-    //    private static double maxMsec;
+    private int totalFrames;
+    private double totalMsec;
+    private double minMsec = Double.MAX_VALUE;
+    private double maxMsec;
 
     public VisionTuner(String[] imageFilenames) {
         cameraFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);
 
         loadTestImages(imageFilenames);
+        recognizer.showIntermediateStages(true);
 
         cameraFrame.getContentPane().add(panel, BorderLayout.SOUTH);
         panel.setLayout(new GridLayout(0, 2, 0, 0));
@@ -145,9 +149,9 @@
         double milliseconds = (endTime - startTime) / 1e6;
         ++totalFrames;
         totalMsec += milliseconds;
-        //        minMsec = Math.min(minMsec, milliseconds);
-        //        maxMsec = Math.max(maxMsec, milliseconds);
-        System.out.format("Processing took %.2f ms, %.2f fps, %.2f avg%n",
+        minMsec = Math.min(minMsec, milliseconds);
+        maxMsec = Math.max(maxMsec, milliseconds);
+        System.out.format("The recognizer took %.2f ms, %.2f fps, %.2f avg%n",
                 milliseconds, 1000 / milliseconds,
                 1000 * totalFrames / totalMsec);
     }
@@ -170,12 +174,19 @@
         KeyEvent e = cameraFrame.waitKey();
 
         switch (e.getKeyCode()) {
-        case KeyEvent.VK_LEFT:
+        case KeyEvent.VK_LEFT: // left arrow key: go to previous image
             previousImage();
             break;
-        case KeyEvent.VK_RIGHT:
+        case KeyEvent.VK_RIGHT: // right arrow key: go to next image
             nextImage();
             break;
+        case KeyEvent.VK_Q: // Q: print time measurements then quit
+            System.out.format("The recognizer took %.2f ms avg, %.2f min,"
+                    + " %.2f max, %.2f fps avg%n",
+                    totalMsec / totalFrames,
+                    minMsec, maxMsec,
+                    1000 * totalFrames / totalMsec);
+            System.exit(0);
         }
     }