Pipelining would be an extremely valuable addition to the system, and would improve performance considerably. Pipelining is the situation where one or more images are input and transferred whilst the current image is being processed and output. The best solution would probably be a three-stage pipeline, with an image in each of the three main stages of the system -- input, processing and output -- and the images would flow through the ``pipe'' in that order. This would almost certainly be best achieved with the use of threads of execution22, with shared memory if necessary to reduce the amount of memory being copied.