diff --git a/Sources/src/Visnode/prog b/Sources/src/Visnode/prog
index c0ca0c8..0e457cd 100755
Binary files a/Sources/src/Visnode/prog and b/Sources/src/Visnode/prog differ
diff --git a/Sources/src/Visnode/threadweaver/debugging.hpp b/Sources/src/Visnode/threadweaver/debugging.hpp
index 8c7ff1a..ca714eb 100644
--- a/Sources/src/Visnode/threadweaver/debugging.hpp
+++ b/Sources/src/Visnode/threadweaver/debugging.hpp
@@ -9,6 +9,4 @@
 #define DEBUG_LOG(x) std::cout << "-DEBUG: " << x << std::endl;
 #else
 #define DEBUG_LOG(x)
-#endif
-
-//#define DBGPRINT(x) do { if (DBGMODE) { std::cerr << x << std::endl; }} while (0)
\ No newline at end of file
+#endif
\ No newline at end of file
diff --git a/Sources/src/Visnode/ui/CMakeLists.txt b/Sources/src/Visnode/ui/CMakeLists.txt
index 9cfda5e..bfe4112 100644
--- a/Sources/src/Visnode/ui/CMakeLists.txt
+++ b/Sources/src/Visnode/ui/CMakeLists.txt
@@ -11,12 +11,19 @@ MESSAGE(STATUS "building ui")
 SET("OpenCV_DIR" "/usr/local/lib/")
 
 find_package( OpenCV REQUIRED )
+find_package(OpenGL REQUIRED)
+find_package(GLUT REQUIRED)
+
+include_directories( ${OPENGL_INCLUDE_DIRS}  ${GLUT_INCLUDE_DIRS} )
+
 
 MESSAGE(STATUS "OpenCV_INCLUDE_DIRS : ${OpenCV_INCLUDE_DIRS}")
 MESSAGE(STATUS "Opencv_LINK_DIRS : ${Opencv_LINK_DIRS}")
 
 add_library(ui ${ui_source_files})
 
+target_link_libraries(ui ${OPENGL_LIBRARIES})
+target_link_libraries(ui ${GLUT_INCLUDE_DIRS})
 target_link_libraries(ui ${OpenCV_LIBS})
 target_link_libraries(ui psvr)
 target_link_libraries(ui cameras)
diff --git a/Sources/src/Visnode/ui/_ui.hpp b/Sources/src/Visnode/ui/_ui.hpp
index df1311a..a76c19b 100644
--- a/Sources/src/Visnode/ui/_ui.hpp
+++ b/Sources/src/Visnode/ui/_ui.hpp
@@ -5,6 +5,8 @@
 #include <ctime>
 #include <functional>
 
+#include <GL/glut.h>
+
 #include "../cameras/_cam.hpp"
 #include "../psvr/_psvr.hpp"
 #include <opencv2/imgcodecs/imgcodecs.hpp>
diff --git a/Sources/src/Visnode/ui/ui.cpp b/Sources/src/Visnode/ui/ui.cpp
index 6cc5bdc..d31d07e 100644
--- a/Sources/src/Visnode/ui/ui.cpp
+++ b/Sources/src/Visnode/ui/ui.cpp
@@ -2,17 +2,22 @@
 
 void ui::Ui::draw(){
    fcheckManager::fcShow.tickBegin();
+   UiManager::accessLocks.at(this->id)->lock();   
    if(drawSurface.empty()){
-      //fcheckManager::fcShow.fps = 0;
+      UiManager::accessLocks.at(this->id)->unlock();
       return;
    }
-   UiManager::accessLocks.at(this->id)->lock();   
    drawBuffer = drawSurface;
    UiManager::accessLocks.at(this->id)->unlock();
-   //drawTexture = cv::ogl::Texture2D(drawBuffer);
-   //cv::ogl::convertToGLTexture2D(drawBuffer, drawTexture);
-   
-   imshow(this->myWindow, this->drawBuffer);
-   waitKey(1);
+   #ifdef OGLWIN
+      UMat blk1920x1080(cv::Size(1920, 1080), CV_8UC3,Scalar(0,0,0));
+      drawTexture = Texture2D(1920,1080,cv::ogl::Texture2D::Format::RGBA,false);
+      //cv::ogl::convertToGLTexture2D(drawBuffer, drawTexture);
+      //imshow(this->myWindow, this->drawTexture);
+   #else
+      imshow(this->myWindow, this->drawBuffer);
+   #endif
+
+   waitKey(10);
    fcheckManager::fcShow.tickUpdate();
 }
\ No newline at end of file
diff --git a/Sources/src/Visnode/ui/uiDrawer.cpp b/Sources/src/Visnode/ui/uiDrawer.cpp
index ef97093..33ef865 100644
--- a/Sources/src/Visnode/ui/uiDrawer.cpp
+++ b/Sources/src/Visnode/ui/uiDrawer.cpp
@@ -52,6 +52,7 @@ namespace ui{
         VideoCapture cap("./media/hud_startup.gif");
         cout << "opened video"<< endl;
         UMat overlay = imread("./media/hud_fixed.png",-1).getUMat(ACCESS_READ);
+    
         cout << "read overlay" << endl;
         ui::UiDrawer::OverlayMat = overlay;
         if(!cap.isOpened()){
diff --git a/Sources/src/Visnode/ui/uiManager.cpp b/Sources/src/Visnode/ui/uiManager.cpp
index 06fe9ed..9f9a29b 100644
--- a/Sources/src/Visnode/ui/uiManager.cpp
+++ b/Sources/src/Visnode/ui/uiManager.cpp
@@ -12,6 +12,31 @@ namespace ui{
         }
     }
 
+    void on_opengl(void* param)
+{
+    glLoadIdentity();
+    glTranslated(0.0, 0.0, -1.0);
+    glRotatef( 55, 1, 0, 0 );
+    glRotatef( 45, 0, 1, 0 );
+    glRotatef( 0, 0, 0, 1 );
+    static const int coords[6][4][3] = {
+        { { +1, -1, -1 }, { -1, -1, -1 }, { -1, +1, -1 }, { +1, +1, -1 } },
+        { { +1, +1, -1 }, { -1, +1, -1 }, { -1, +1, +1 }, { +1, +1, +1 } },
+        { { +1, -1, +1 }, { +1, -1, -1 }, { +1, +1, -1 }, { +1, +1, +1 } },
+        { { -1, -1, -1 }, { -1, -1, +1 }, { -1, +1, +1 }, { -1, +1, -1 } },
+        { { +1, -1, +1 }, { -1, -1, +1 }, { -1, -1, -1 }, { +1, -1, -1 } },
+        { { -1, -1, +1 }, { +1, -1, +1 }, { +1, +1, +1 }, { -1, +1, +1 } }
+    };
+    for (int i = 0; i < 6; ++i) {
+                glColor3ub( i*20, 100+i*10, i*42 );
+                glBegin(GL_QUADS);
+                for (int j = 0; j < 4; ++j) {
+                        glVertex3d(0.2 * coords[i][j][0], 0.2 * coords[i][j][1], 0.2 * coords[i][j][2]);
+                }
+                glEnd();
+    }
+}
+
     //initializes the ui manager, following default values
     void UiManager::init(){
         uiShouldRun = false;
@@ -23,16 +48,15 @@ namespace ui{
             #ifdef OGLWIN
                 DEBUG_LOG("created opengl window")
                 namedWindow(newUI->myWindow,WINDOW_OPENGL);
+                cv::setOpenGlContext(newUI->myWindow);
+                setOpenGlDrawCallback(newUI->myWindow, on_opengl);
             #else
                 DEBUG_LOG("created cpu-based window")
                 namedWindow(newUI->myWindow);
             #endif
             moveWindow(newUI->myWindow,DEFAULT_UI_OFFSET_X+i*960,DEFAULT_UI_OFFSET_Y);
             resizeWindow(newUI->myWindow,DEFAULT_UI_SIZE_X,DEFAULT_UI_SIZE_Y);
-            setWindowProperty(newUI->myWindow, cv::WND_PROP_FULLSCREEN, cv::WINDOW_FULLSCREEN);
-            #ifdef OGLWIN
-            cv::setOpenGlContext(newUI->myWindow);
-            #endif
+            //setWindowProperty(newUI->myWindow, cv::WND_PROP_FULLSCREEN, cv::WINDOW_FULLSCREEN);
 
             cout << "window: " << newUI->myWindow << " created at " << DEFAULT_UI_OFFSET_X+i*960 << " , " << DEFAULT_UI_OFFSET_Y << endl;