diff --git a/src/CMakeFiles/prog.dir/compiler_depend.internal b/src/CMakeFiles/prog.dir/compiler_depend.internal
index 7191d8d..601ebc6 100644
--- a/src/CMakeFiles/prog.dir/compiler_depend.internal
+++ b/src/CMakeFiles/prog.dir/compiler_depend.internal
@@ -626,6 +626,7 @@ CMakeFiles/prog.dir/main.cpp.o
  /usr/include/GL/glext.h
  /usr/include/KHR/khrplatform.h
  /usr/include/GL/glu.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
  /home/kanken/code/AHRS_core/src/pipeline/members/uiDrawerNode.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/uiController.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
@@ -1261,6 +1262,7 @@ CMakeFiles/prog.dir/topLevelManager.cpp.o
  /usr/include/GL/glext.h
  /usr/include/KHR/khrplatform.h
  /usr/include/GL/glu.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
  /home/kanken/code/AHRS_core/src/pipeline/members/uiDrawerNode.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/uiController.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
diff --git a/src/CMakeFiles/prog.dir/compiler_depend.make b/src/CMakeFiles/prog.dir/compiler_depend.make
index 025528e..fd2c582 100644
--- a/src/CMakeFiles/prog.dir/compiler_depend.make
+++ b/src/CMakeFiles/prog.dir/compiler_depend.make
@@ -625,6 +625,7 @@ CMakeFiles/prog.dir/main.cpp.o: main.cpp \
   /usr/include/GL/glext.h \
   /usr/include/KHR/khrplatform.h \
   /usr/include/GL/glu.h \
+  threadweaver/debugging.hpp \
   pipeline/members/uiDrawerNode.hpp \
   model/controllers/ui/uiController.hpp \
   model/hardware/psvr/_psvr.hpp \
@@ -1259,6 +1260,7 @@ CMakeFiles/prog.dir/topLevelManager.cpp.o: topLevelManager.cpp \
   /usr/include/GL/glext.h \
   /usr/include/KHR/khrplatform.h \
   /usr/include/GL/glu.h \
+  threadweaver/debugging.hpp \
   pipeline/members/uiDrawerNode.hpp \
   model/controllers/ui/uiController.hpp \
   model/hardware/psvr/_psvr.hpp \
diff --git a/src/model/windows/CMakeFiles/windows.dir/compiler_depend.internal b/src/model/windows/CMakeFiles/windows.dir/compiler_depend.internal
index 272053c..6e3fc60 100644
--- a/src/model/windows/CMakeFiles/windows.dir/compiler_depend.internal
+++ b/src/model/windows/CMakeFiles/windows.dir/compiler_depend.internal
@@ -323,6 +323,8 @@ model/windows/CMakeFiles/windows.dir/window.cpp.o
  /usr/include/GL/glext.h
  /usr/include/KHR/khrplatform.h
  /usr/include/GL/glu.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
+ /usr/include/c++/11/iostream
 
 model/windows/CMakeFiles/windows.dir/windowManager.cpp.o
  /home/kanken/code/AHRS_core/src/model/windows/windowManager.cpp
@@ -647,6 +649,8 @@ model/windows/CMakeFiles/windows.dir/windowManager.cpp.o
  /usr/include/GL/glext.h
  /usr/include/KHR/khrplatform.h
  /usr/include/GL/glu.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
+ /usr/include/c++/11/iostream
  /usr/include/c++/11/thread
  /usr/include/c++/11/bits/std_thread.h
  /usr/include/c++/11/bits/this_thread_sleep.h
diff --git a/src/model/windows/CMakeFiles/windows.dir/compiler_depend.make b/src/model/windows/CMakeFiles/windows.dir/compiler_depend.make
index 10e8ba4..0f2782c 100644
--- a/src/model/windows/CMakeFiles/windows.dir/compiler_depend.make
+++ b/src/model/windows/CMakeFiles/windows.dir/compiler_depend.make
@@ -321,7 +321,9 @@ model/windows/CMakeFiles/windows.dir/window.cpp.o: model/windows/window.cpp \
   /usr/include/GL/gl.h \
   /usr/include/GL/glext.h \
   /usr/include/KHR/khrplatform.h \
-  /usr/include/GL/glu.h
+  /usr/include/GL/glu.h \
+  threadweaver/debugging.hpp \
+  /usr/include/c++/11/iostream
 
 model/windows/CMakeFiles/windows.dir/windowManager.cpp.o: model/windows/windowManager.cpp \
   /usr/include/stdc-predef.h \
@@ -645,6 +647,8 @@ model/windows/CMakeFiles/windows.dir/windowManager.cpp.o: model/windows/windowMa
   /usr/include/GL/glext.h \
   /usr/include/KHR/khrplatform.h \
   /usr/include/GL/glu.h \
+  threadweaver/debugging.hpp \
+  /usr/include/c++/11/iostream \
   /usr/include/c++/11/thread \
   /usr/include/c++/11/bits/std_thread.h \
   /usr/include/c++/11/bits/this_thread_sleep.h
@@ -652,6 +656,8 @@ model/windows/CMakeFiles/windows.dir/windowManager.cpp.o: model/windows/windowMa
 
 model/windows/windowManager.cpp:
 
+threadweaver/debugging.hpp:
+
 /usr/include/GL/glu.h:
 
 /usr/include/KHR/khrplatform.h:
@@ -1246,6 +1252,8 @@ model/windows/window.cpp:
 
 /usr/include/x86_64-linux-gnu/bits/fp-logb.h:
 
+/usr/include/c++/11/iostream:
+
 /usr/include/c++/11/bits/node_handle.h:
 
 /usr/include/x86_64-linux-gnu/bits/fp-fast.h:
diff --git a/src/model/windows/window.cpp b/src/model/windows/window.cpp
index ef2d704..96ae9dd 100644
--- a/src/model/windows/window.cpp
+++ b/src/model/windows/window.cpp
@@ -1,5 +1,24 @@
 #include "window.hpp"
 
+void glDrawTextureCallback(void* userdata)
+{
+   cv::ogl::Texture2D* texObj = static_cast<cv::ogl::Texture2D*>(userdata);
+   cv::ogl::render(*texObj);
+}
+
+Window::Window(std::string windowName){
+   this->myWindow = windowName;
+}
+
+void Window::glInit(){
+   cv::namedWindow(this->myWindow, cv::WINDOW_OPENGL);
+   setWindowProperty(this->myWindow, cv::WND_PROP_FULLSCREEN, cv::WINDOW_FULLSCREEN);
+   cv::setOpenGlContext(this->myWindow);
+   cv::moveWindow(this->myWindow, DEFAULT_UI_OFFSET_X + 960, DEFAULT_UI_OFFSET_Y);
+   cv::setOpenGlContext(this->myWindow);
+   cv::setOpenGlDrawCallback(this->myWindow, glDrawTextureCallback, &this->drawTexture);
+}
+
 void Window::draw(){
    try{
    drawAccess.lock();   
@@ -12,7 +31,7 @@ void Window::draw(){
 
    #ifdef OGLWIN
       drawTexture.copyFrom(drawBuffer);
-      cv::imshow(this->myWindow, this->drawTexture);
+      cv::updateWindow(this->myWindow);
    #else
       cv::imshow(this->myWindow, drawBuffer);
    #endif
@@ -20,5 +39,6 @@ void Window::draw(){
    }
    catch(...){
       drawAccess.unlock();
+      std::cout << "Caught draw window thread exception" << std::endl;
    }
 }
\ No newline at end of file
diff --git a/src/model/windows/window.hpp b/src/model/windows/window.hpp
index f781a76..603d09c 100644
--- a/src/model/windows/window.hpp
+++ b/src/model/windows/window.hpp
@@ -10,10 +10,12 @@
 class Window
 {
 public:
+    Window(std::string windowName);
     cv::UMat drawSurface; // Current frame
     cv::ogl::Texture2D drawTexture = cv::ogl::Texture2D();
     int id;
     std::mutex drawAccess;
     std::string myWindow;
     void draw();
+    void glInit();
 };
\ No newline at end of file
diff --git a/src/model/windows/windowManager.cpp b/src/model/windows/windowManager.cpp
index cb6157e..3f8a116 100644
--- a/src/model/windows/windowManager.cpp
+++ b/src/model/windows/windowManager.cpp
@@ -3,16 +3,18 @@
     // initializes the ui manager, following default values
     WindowManager::WindowManager()
     {
+        try{
         uiShouldRun = false;
         for (int i = 0; i < DEFAULT_UI_WINDOW_AMOUNT; i++)
         {
-            Window *newWindow = new Window();
-            newWindow->myWindow = "project- UI" + std::to_string(i);
+            Window *newWindow;
+            std::string name = "project- UI" + std::to_string(i);
 #ifndef OGLWIN
-            cv::namedWindow(newWindow->myWindow);   //if we're in opengl mode, the window needs to be created in the same thread as the execution, not here
+            cv::namedWindow(name);   //if we're in opengl mode, the window needs to be created in the same thread as the execution, not here
+            cv::moveWindow(name, DEFAULT_UI_OFFSET_X + i * 960, DEFAULT_UI_OFFSET_Y);
+            cv::resizeWindow(name, DEFAULT_UI_SIZE_X, DEFAULT_UI_SIZE_Y);
 #endif
-            cv::moveWindow(newWindow->myWindow, DEFAULT_UI_OFFSET_X + i * 960, DEFAULT_UI_OFFSET_Y);
-            cv::resizeWindow(newWindow->myWindow, DEFAULT_UI_SIZE_X, DEFAULT_UI_SIZE_Y);
+            newWindow = new Window(name);
 
             //cout << "window: " << newWindow->myWindow << " created at " << DEFAULT_UI_OFFSET_X + i * 960 << " , " << DEFAULT_UI_OFFSET_Y << endl;
 
@@ -21,6 +23,10 @@
             managedUIs.push_back(newWindow); // add new ui in the ui map, mapped to the window's name
         }
         uiShouldRun = true;
+        }
+        catch(std::exception& e){
+            std::cerr << "\033[1;31m caught windowManager::WindowManager thread exception: " << e.what() <<" \033[0m" << std::endl;
+        }
     }
 
     void WindowManager::cleanup()
diff --git a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal b/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal
index 20e2e71..1e096f3 100644
--- a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal
+++ b/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal
@@ -1308,6 +1308,7 @@ pipeline/CMakeFiles/pipelineLib.dir/members/displayOutputNode.cpp.o
  /usr/include/GL/glext.h
  /usr/include/KHR/khrplatform.h
  /usr/include/GL/glu.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
 
 pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/fpsCounter.cpp.o
  /home/kanken/code/AHRS_core/src/pipeline/members/subNodes/fpsCounter.cpp
@@ -4647,6 +4648,7 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o
  /usr/include/GL/glext.h
  /usr/include/KHR/khrplatform.h
  /usr/include/GL/glu.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
  /home/kanken/code/AHRS_core/src/pipeline/members/uiDrawerNode.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/uiController.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
diff --git a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make b/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make
index 2aa9702..af72d3c 100644
--- a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make
+++ b/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make
@@ -1304,7 +1304,8 @@ pipeline/CMakeFiles/pipelineLib.dir/members/displayOutputNode.cpp.o: pipeline/me
   /usr/include/GL/gl.h \
   /usr/include/GL/glext.h \
   /usr/include/KHR/khrplatform.h \
-  /usr/include/GL/glu.h
+  /usr/include/GL/glu.h \
+  threadweaver/debugging.hpp
 
 pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/fpsCounter.cpp.o: pipeline/members/subNodes/fpsCounter.cpp \
   /usr/include/stdc-predef.h \
@@ -4637,6 +4638,7 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o: pipeline/pipeline.cpp \
   /usr/include/GL/glext.h \
   /usr/include/KHR/khrplatform.h \
   /usr/include/GL/glu.h \
+  threadweaver/debugging.hpp \
   pipeline/members/uiDrawerNode.hpp \
   model/controllers/ui/uiController.hpp \
   model/hardware/psvr/_psvr.hpp \
diff --git a/src/pipeline/members/displayOutputNode.cpp b/src/pipeline/members/displayOutputNode.cpp
index 4a76115..c865ee7 100644
--- a/src/pipeline/members/displayOutputNode.cpp
+++ b/src/pipeline/members/displayOutputNode.cpp
@@ -16,10 +16,7 @@ void DisplayOutputNode::processFrame()
     {
 #ifdef OGLWIN
         DEBUG_LOG("DisplayOutputNode on thread " << localThread->get_id() << " is creating its opengl UI");
-        cv::namedWindow(_managed->myWindow, cv::WINDOW_OPENGL);
-        setWindowProperty(_managed->myWindow, cv::WND_PROP_FULLSCREEN, cv::WINDOW_FULLSCREEN);
-        cv::setOpenGlContext(_managed->myWindow);
-        cv::moveWindow(_managed->myWindow, DEFAULT_UI_OFFSET_X + 960, DEFAULT_UI_OFFSET_Y);
+        _managed->glInit();
         DEBUG_LOG("DisplayOutputNode on thread " << localThread->get_id() << " is done creating its opengl UI");
 #endif
         inited = true;
diff --git a/src/prog b/src/prog
index 4b627b0..f9d95ba 100755
Binary files a/src/prog and b/src/prog differ