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 /usr/include/c++/11/memory_resource:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/mwaitintrin.h:
 
-/usr/include/x86_64-linux-gnu/bits/endianness.h:
-
-/usr/local/include/opencv4/opencv2/flann/composite_index.h:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/pconfigintrin.h:
 
 /usr/include/x86_64-linux-gnu/sys/cdefs.h:
@@ -2390,10 +2410,6 @@ model/patterns/observer/observer.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512bf16vlintrin.h:
 
-/usr/include/x86_64-linux-gnu/bits/stdio_lim.h:
-
-/usr/lib/gcc/x86_64-linux-gnu/11/include/amxbf16intrin.h:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/keylockerintrin.h:
 
 /usr/include/linux/close_range.h:
@@ -2446,8 +2462,6 @@ model/patterns/observer/observer.hpp:
 
 /usr/include/c++/11/pstl/glue_numeric_impl.h:
 
-/usr/include/c++/11/pstl/glue_memory_impl.h:
-
 /usr/local/include/opencv4/opencv2/opencv.hpp:
 
 /usr/local/include/opencv4/opencv2/flann/config.h:
@@ -2466,8 +2480,6 @@ model/patterns/observer/observer.hpp:
 
 /usr/local/include/opencv4/opencv2/dnn/utils/inference_engine.hpp:
 
-/usr/local/include/opencv4/opencv2/flann/random.h:
-
 /usr/local/include/opencv4/opencv2/flann.hpp:
 
 /usr/include/c++/11/bits/fs_path.h:
@@ -2493,15 +2505,3 @@ model/patterns/observer/observer.hpp:
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx5124vnniwintrin.h:
 
 /usr/local/include/opencv4/opencv2/flann/dynamic_bitset.h:
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-/usr/local/include/opencv4/opencv2/flann/heap.h:
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-/usr/include/x86_64-linux-gnu/bits/types/struct_tm.h:
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-/usr/local/include/opencv4/opencv2/flann/allocator.h:
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-/usr/local/include/opencv4/opencv2/flann/linear_index.h:
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-/usr/local/include/opencv4/opencv2/flann/hierarchical_clustering_index.h:
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-/usr/local/include/opencv4/opencv2/flann/lsh_index.h:
diff --git a/src/pipeline/CMakeFiles/pipelineLib.dir/DependInfo.cmake b/src/pipeline/CMakeFiles/pipelineLib.dir/DependInfo.cmake
index f502dc1..bd4c06e 100644
--- a/src/pipeline/CMakeFiles/pipelineLib.dir/DependInfo.cmake
+++ b/src/pipeline/CMakeFiles/pipelineLib.dir/DependInfo.cmake
@@ -19,15 +19,15 @@ set(CMAKE_DEPENDS_DEPENDENCY_FILES
 # Targets to which this target links.
 set(CMAKE_TARGET_LINKED_INFO_FILES
   "/home/kanken/code/AHRS_core/src/model/windows/CMakeFiles/windows.dir/DependInfo.cmake"
-  "/home/kanken/code/AHRS_core/src/model/perfcheckers/CMakeFiles/perfcheckers.dir/DependInfo.cmake"
   "/home/kanken/code/AHRS_core/src/ui/support/CMakeFiles/support.dir/DependInfo.cmake"
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   "/home/kanken/code/AHRS_core/src/model/hardware/hw/CMakeFiles/hw.dir/DependInfo.cmake"
+  "/home/kanken/code/AHRS_core/src/threadweaver/CMakeFiles/threadweaver.dir/DependInfo.cmake"
   "/home/kanken/code/AHRS_core/src/model/hardware/ihidapi/CMakeFiles/ihidapi.dir/DependInfo.cmake"
   "/home/kanken/code/AHRS_core/src/model/hardware/cameras/CMakeFiles/cameras.dir/DependInfo.cmake"
+  "/home/kanken/code/AHRS_core/src/model/perfcheckers/CMakeFiles/perfcheckers.dir/DependInfo.cmake"
   "/home/kanken/code/AHRS_core/src/model/patterns/observer/CMakeFiles/observers.dir/DependInfo.cmake"
-  "/home/kanken/code/AHRS_core/src/threadweaver/CMakeFiles/threadweaver.dir/DependInfo.cmake"
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 # Fortran module output directory.
diff --git a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal b/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal
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--- a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.internal
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  /usr/include/c++/11/bits/this_thread_sleep.h
  /home/kanken/code/AHRS_core/src/model/perfcheckers/framerate.hpp
+ /home/kanken/code/AHRS_core/src/threadweaver/threadweaver.hpp
+ /usr/include/unistd.h
+ /usr/include/x86_64-linux-gnu/bits/posix_opt.h
+ /usr/include/x86_64-linux-gnu/bits/environments.h
+ /usr/include/x86_64-linux-gnu/bits/confname.h
+ /usr/include/x86_64-linux-gnu/bits/getopt_posix.h
+ /usr/include/x86_64-linux-gnu/bits/getopt_core.h
+ /usr/include/x86_64-linux-gnu/bits/unistd_ext.h
+ /usr/include/linux/close_range.h
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+ /usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h
+ /usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h
+ /usr/include/libintl.h
+ /usr/include/c++/11/bits/codecvt.h
+ /usr/include/c++/11/bits/locale_facets_nonio.tcc
+ /usr/include/c++/11/bits/locale_conv.h
+ /usr/include/c++/11/iomanip
+ /usr/include/c++/11/bits/quoted_string.h
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+ /usr/include/c++/11/bits/fs_ops.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
+ /usr/include/c++/11/iostream
 
 pipeline/CMakeFiles/pipelineLib.dir/members/cameraPickerNode.cpp.o
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- /usr/include/c++/11/bits/stream_iterator.h
+ /home/kanken/code/AHRS_core/src/threadweaver/threadweaver.hpp
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+ /usr/include/x86_64-linux-gnu/bits/environments.h
+ /usr/include/x86_64-linux-gnu/bits/confname.h
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+ /usr/include/linux/close_range.h
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 pipeline/CMakeFiles/pipelineLib.dir/members/displayOutputNode.cpp.o
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  /home/kanken/code/AHRS_core/src/model/hardware/ihidapi/_hidapi.hpp
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- /usr/include/c++/11/regex
- /usr/include/c++/11/bitset
- /usr/include/c++/11/iterator
- /usr/include/c++/11/bits/stream_iterator.h
+ /home/kanken/code/AHRS_core/src/threadweaver/threadweaver.hpp
+ /usr/include/unistd.h
+ /usr/include/x86_64-linux-gnu/bits/posix_opt.h
+ /usr/include/x86_64-linux-gnu/bits/environments.h
+ /usr/include/x86_64-linux-gnu/bits/confname.h
+ /usr/include/x86_64-linux-gnu/bits/getopt_posix.h
+ /usr/include/x86_64-linux-gnu/bits/getopt_core.h
+ /usr/include/x86_64-linux-gnu/bits/unistd_ext.h
+ /usr/include/linux/close_range.h
+ /usr/include/c++/11/filesystem
+ /usr/include/c++/11/bits/fs_fwd.h
+ /usr/include/c++/11/bits/fs_path.h
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+ /usr/include/c++/11/iomanip
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+ /usr/include/c++/11/bits/fs_dir.h
+ /usr/include/c++/11/bits/fs_ops.h
+ /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
+ /usr/include/c++/11/iostream
+ /home/kanken/code/AHRS_core/src/pipeline/members/cameraPickerNode.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/cameras/_cam.hpp
+ /usr/include/c++/11/regex
+ /usr/include/c++/11/bitset
+ /usr/include/c++/11/iterator
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diff --git a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make b/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make
index e51c2a9..ec6ec47 100644
--- a/src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make
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+  model/perfcheckers/framerate.hpp \
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+  /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
+  /usr/include/x86_64-linux-gnu/bits/environments.h \
+  /usr/include/x86_64-linux-gnu/bits/confname.h \
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+  /usr/include/libintl.h \
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+  /usr/include/c++/11/bits/locale_facets_nonio.tcc \
+  /usr/include/c++/11/bits/locale_conv.h \
+  /usr/include/c++/11/iomanip \
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 pipeline/CMakeFiles/pipelineLib.dir/members/cameraPickerNode.cpp.o: pipeline/members/cameraPickerNode.cpp \
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 pipeline/CMakeFiles/pipelineLib.dir/members/displayOutputNode.cpp.o: pipeline/members/displayOutputNode.cpp \
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+  /usr/include/c++/11/bits/locale_conv.h \
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   /usr/local/include/opencv4/opencv2/flann/lsh_index.h \
   /usr/local/include/opencv4/opencv2/flann/lsh_table.h \
-  /usr/include/c++/11/iomanip \
-  /usr/include/c++/11/bits/quoted_string.h \
   /usr/include/c++/11/math.h \
   /usr/local/include/opencv4/opencv2/flann/autotuned_index.h \
   /usr/local/include/opencv4/opencv2/flann/ground_truth.h \
@@ -2462,22 +2532,6 @@ pipeline/CMakeFiles/pipelineLib.dir/members/uiMergerNode.cpp.o: pipeline/members
   /usr/local/include/opencv4/opencv2/core/core_c.h \
   /usr/local/include/opencv4/opencv2/core/types_c.h \
   /usr/local/include/opencv4/opencv2/videoio/legacy/constants_c.h \
-  threadweaver/threadweaver.hpp \
-  /usr/include/unistd.h \
-  /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
-  /usr/include/x86_64-linux-gnu/bits/environments.h \
-  /usr/include/x86_64-linux-gnu/bits/confname.h \
-  /usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
-  /usr/include/x86_64-linux-gnu/bits/getopt_core.h \
-  /usr/include/x86_64-linux-gnu/bits/unistd_ext.h \
-  /usr/include/linux/close_range.h \
-  /usr/include/c++/11/filesystem \
-  /usr/include/c++/11/bits/fs_fwd.h \
-  /usr/include/c++/11/bits/fs_path.h \
-  /usr/include/c++/11/codecvt \
-  /usr/include/c++/11/bits/fs_dir.h \
-  /usr/include/c++/11/bits/fs_ops.h \
-  threadweaver/debugging.hpp \
   model/hardware/psvr/_psvr.hpp \
   model/hardware/ihidapi/_hidapi.hpp \
   /usr/local/include/hidapi/hidapi.h \
@@ -2804,13 +2858,18 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o: pipeline/pipeline.cpp \
   /usr/include/c++/11/bits/std_thread.h \
   /usr/include/c++/11/bits/this_thread_sleep.h \
   model/perfcheckers/framerate.hpp \
-  pipeline/members/cameraPickerNode.hpp \
-  model/hardware/cameras/_cam.hpp \
-  /usr/include/c++/11/iostream \
-  /usr/include/c++/11/regex \
-  /usr/include/c++/11/bitset \
-  /usr/include/c++/11/iterator \
-  /usr/include/c++/11/bits/stream_iterator.h \
+  threadweaver/threadweaver.hpp \
+  /usr/include/unistd.h \
+  /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
+  /usr/include/x86_64-linux-gnu/bits/environments.h \
+  /usr/include/x86_64-linux-gnu/bits/confname.h \
+  /usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
+  /usr/include/x86_64-linux-gnu/bits/getopt_core.h \
+  /usr/include/x86_64-linux-gnu/bits/unistd_ext.h \
+  /usr/include/linux/close_range.h \
+  /usr/include/c++/11/filesystem \
+  /usr/include/c++/11/bits/fs_fwd.h \
+  /usr/include/c++/11/bits/fs_path.h \
   /usr/include/c++/11/locale \
   /usr/include/c++/11/bits/locale_facets_nonio.h \
   /usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h \
@@ -2819,6 +2878,19 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o: pipeline/pipeline.cpp \
   /usr/include/c++/11/bits/codecvt.h \
   /usr/include/c++/11/bits/locale_facets_nonio.tcc \
   /usr/include/c++/11/bits/locale_conv.h \
+  /usr/include/c++/11/iomanip \
+  /usr/include/c++/11/bits/quoted_string.h \
+  /usr/include/c++/11/codecvt \
+  /usr/include/c++/11/bits/fs_dir.h \
+  /usr/include/c++/11/bits/fs_ops.h \
+  threadweaver/debugging.hpp \
+  /usr/include/c++/11/iostream \
+  pipeline/members/cameraPickerNode.hpp \
+  model/hardware/cameras/_cam.hpp \
+  /usr/include/c++/11/regex \
+  /usr/include/c++/11/bitset \
+  /usr/include/c++/11/iterator \
+  /usr/include/c++/11/bits/stream_iterator.h \
   /usr/include/c++/11/stack \
   /usr/include/c++/11/deque \
   /usr/include/c++/11/bits/stl_deque.h \
@@ -3033,8 +3105,6 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o: pipeline/pipeline.cpp \
   /usr/local/include/opencv4/opencv2/flann/hierarchical_clustering_index.h \
   /usr/local/include/opencv4/opencv2/flann/lsh_index.h \
   /usr/local/include/opencv4/opencv2/flann/lsh_table.h \
-  /usr/include/c++/11/iomanip \
-  /usr/include/c++/11/bits/quoted_string.h \
   /usr/include/c++/11/math.h \
   /usr/local/include/opencv4/opencv2/flann/autotuned_index.h \
   /usr/local/include/opencv4/opencv2/flann/ground_truth.h \
@@ -3082,22 +3152,6 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o: pipeline/pipeline.cpp \
   /usr/local/include/opencv4/opencv2/core/core_c.h \
   /usr/local/include/opencv4/opencv2/core/types_c.h \
   /usr/local/include/opencv4/opencv2/videoio/legacy/constants_c.h \
-  threadweaver/threadweaver.hpp \
-  /usr/include/unistd.h \
-  /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
-  /usr/include/x86_64-linux-gnu/bits/environments.h \
-  /usr/include/x86_64-linux-gnu/bits/confname.h \
-  /usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
-  /usr/include/x86_64-linux-gnu/bits/getopt_core.h \
-  /usr/include/x86_64-linux-gnu/bits/unistd_ext.h \
-  /usr/include/linux/close_range.h \
-  /usr/include/c++/11/filesystem \
-  /usr/include/c++/11/bits/fs_fwd.h \
-  /usr/include/c++/11/bits/fs_path.h \
-  /usr/include/c++/11/codecvt \
-  /usr/include/c++/11/bits/fs_dir.h \
-  /usr/include/c++/11/bits/fs_ops.h \
-  threadweaver/debugging.hpp \
   pipeline/members/displayOutputNode.hpp \
   model/windows/window.hpp \
   /usr/local/include/opencv4/opencv2/core/core.hpp \
@@ -3204,22 +3258,6 @@ pipeline/members/displayOutputNode.hpp:
 
 pipeline/members/displayOutputNode.cpp:
 
-/usr/include/c++/11/bits/fs_fwd.h:
-
-/usr/include/x86_64-linux-gnu/bits/unistd_ext.h:
-
-/usr/include/x86_64-linux-gnu/bits/confname.h:
-
-/usr/local/include/opencv4/opencv2/core/ocl.hpp:
-
-/usr/include/x86_64-linux-gnu/bits/environments.h:
-
-/usr/include/x86_64-linux-gnu/bits/posix_opt.h:
-
-/usr/include/unistd.h:
-
-threadweaver/threadweaver.hpp:
-
 /usr/local/include/opencv4/opencv2/core/types_c.h:
 
 /usr/local/include/opencv4/opencv2/core/core_c.h:
@@ -3230,10 +3268,6 @@ threadweaver/threadweaver.hpp:
 
 /usr/local/include/opencv4/opencv2/stitching/detail/blenders.hpp:
 
-/usr/include/c++/11/filesystem:
-
-/usr/local/include/opencv4/opencv2/stitching/detail/seam_finders.hpp:
-
 /usr/local/include/opencv4/opencv2/stitching/detail/exposure_compensate.hpp:
 
 /usr/local/include/opencv4/opencv2/stitching/detail/camera.hpp:
@@ -3264,6 +3298,26 @@ threadweaver/threadweaver.hpp:
 
 /usr/local/include/opencv4/opencv2/ml.hpp:
 
+/usr/local/include/opencv4/opencv2/videoio.hpp:
+
+/usr/local/include/opencv4/opencv2/imgcodecs.hpp:
+
+/usr/local/include/opencv4/opencv2/flann/timer.h:
+
+/usr/local/include/opencv4/opencv2/flann/index_testing.h:
+
+/usr/local/include/opencv4/opencv2/flann/autotuned_index.h:
+
+/usr/local/include/opencv4/opencv2/flann/lsh_table.h:
+
+/usr/local/include/opencv4/opencv2/flann/lsh_index.h:
+
+/usr/local/include/opencv4/opencv2/flann/hierarchical_clustering_index.h:
+
+/usr/local/include/opencv4/opencv2/flann/linear_index.h:
+
+/usr/local/include/opencv4/opencv2/flann/kmeans_index.h:
+
 /usr/include/c++/11/bits/unique_ptr.h:
 
 /usr/include/c++/11/bits/stl_raw_storage_iter.h:
@@ -3318,6 +3372,8 @@ threadweaver/threadweaver.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/clockid_t.h:
 
+/usr/include/c++/11/bits/fs_fwd.h:
+
 /usr/include/c++/11/bits/stl_uninitialized.h:
 
 /usr/local/include/opencv4/opencv2/objdetect/detection_based_tracker.hpp:
@@ -3488,12 +3544,16 @@ threadweaver/threadweaver.hpp:
 
 /usr/include/c++/11/cctype:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/avxvnniintrin.h:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/clwbintrin.h:
 
 /usr/include/c++/11/iomanip:
 
+/usr/lib/gcc/x86_64-linux-gnu/11/include/avxvnniintrin.h:
+
+/usr/local/include/opencv4/opencv2/highgui.hpp:
+
+/usr/include/x86_64-linux-gnu/bits/typesizes.h:
+
 /usr/include/c++/11/bits/predefined_ops.h:
 
 /usr/include/x86_64-linux-gnu/bits/libc-header-start.h:
@@ -3544,8 +3604,6 @@ pipeline/members/cameraPickerNode.cpp:
 
 /usr/include/c++/11/pstl/glue_algorithm_defs.h:
 
-/usr/local/include/opencv4/opencv2/flann/lsh_table.h:
-
 /usr/local/include/opencv4/opencv2/imgcodecs/imgcodecs.hpp:
 
 /usr/include/c++/11/clocale:
@@ -3614,16 +3672,14 @@ pipeline/members/cameraPickerNode.cpp:
 
 /usr/include/c++/11/debug/debug.h:
 
+threadweaver/threadweaver.hpp:
+
 /usr/include/x86_64-linux-gnu/c++/11/bits/cpu_defines.h:
 
 /usr/include/x86_64-linux-gnu/bits/math-vector.h:
 
 /usr/include/c++/11/complex:
 
-threadweaver/debugging.hpp:
-
-/usr/include/x86_64-linux-gnu/bits/timesize.h:
-
 /usr/include/c++/11/debug/assertions.h:
 
 /usr/include/x86_64-linux-gnu/bits/types/sigset_t.h:
@@ -3640,8 +3696,6 @@ threadweaver/debugging.hpp:
 
 /usr/include/features.h:
 
-/usr/local/include/opencv4/opencv2/flann/kmeans_index.h:
-
 /usr/include/c++/11/mutex:
 
 /usr/include/x86_64-linux-gnu/bits/long-double.h:
@@ -3662,6 +3716,10 @@ pipeline/members/uiMergerNode.cpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/mwaitxintrin.h:
 
+/usr/local/include/opencv4/opencv2/flann/logger.h:
+
+/usr/include/c++/11/bits/allocator.h:
+
 /usr/include/c++/11/cmath:
 
 /usr/include/c++/11/pstl/pstl_config.h:
@@ -3712,10 +3770,6 @@ pipeline/abstract/pipelineNode.hpp:
 
 /usr/include/c++/11/tuple:
 
-/usr/include/x86_64-linux-gnu/bits/getopt_core.h:
-
-/usr/include/c++/11/bits/functexcept.h:
-
 /usr/include/c++/11/bits/list.tcc:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/gthr.h:
@@ -3738,8 +3792,6 @@ pipeline/abstract/pipelineNode.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/xopen_lim.h:
 
-/usr/local/include/opencv4/opencv2/flann/timer.h:
-
 /usr/include/linux/errno.h:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/c++locale.h:
@@ -3758,8 +3810,14 @@ pipeline/abstract/pipelineNode.hpp:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/os_defines.h:
 
+/usr/local/include/opencv4/opencv2/core/ocl.hpp:
+
+/usr/include/x86_64-linux-gnu/bits/environments.h:
+
 /usr/include/c++/11/limits:
 
+/usr/include/x86_64-linux-gnu/bits/confname.h:
+
 /usr/include/x86_64-linux-gnu/bits/types/time_t.h:
 
 /usr/include/x86_64-linux-gnu/bits/types/FILE.h:
@@ -3770,6 +3828,10 @@ pipeline/abstract/pipelineNode.hpp:
 
 /usr/include/c++/11/tr1/modified_bessel_func.tcc:
 
+/usr/local/include/opencv4/opencv2/flann/composite_index.h:
+
+/usr/include/x86_64-linux-gnu/bits/endianness.h:
+
 /usr/include/c++/11/cstdio:
 
 /usr/include/c++/11/pstl/glue_execution_defs.h:
@@ -3802,10 +3864,6 @@ pipeline/abstract/pipelineNode.hpp:
 
 /usr/include/c++/11/bits/uniform_int_dist.h:
 
-/usr/include/c++/11/bits/allocator.h:
-
-/usr/local/include/opencv4/opencv2/flann/logger.h:
-
 /usr/include/c++/11/bits/cxxabi_init_exception.h:
 
 /usr/include/x86_64-linux-gnu/bits/stdlib-float.h:
@@ -3842,6 +3900,8 @@ pipeline/abstract/pipelineNode.hpp:
 
 /usr/include/c++/11/bits/stl_algobase.h:
 
+/usr/include/unistd.h:
+
 /usr/include/c++/11/bits/alloc_traits.h:
 
 /usr/include/errno.h:
@@ -3926,6 +3986,12 @@ model/windows/windowManager.hpp:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/gthr-default.h:
 
+/usr/local/include/opencv4/opencv2/flann/sampling.h:
+
+/usr/include/x86_64-linux-gnu/bits/types/cookie_io_functions_t.h:
+
+/usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vlbwintrin.h:
+
 /usr/local/include/opencv4/opencv2/opencv_modules.hpp:
 
 /usr/include/pthread.h:
@@ -4026,13 +4092,17 @@ model/hardware/cameras/_cam.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/adxintrin.h:
 
-/usr/include/c++/11/bitset:
+/usr/include/x86_64-linux-gnu/bits/posix_opt.h:
 
-/usr/include/GL/gl.h:
+/usr/include/c++/11/bits/functexcept.h:
 
-/usr/include/c++/11/bits/postypes.h:
+/usr/include/x86_64-linux-gnu/bits/getopt_core.h:
 
-/usr/local/include/opencv4/opencv2/flann/dist.h:
+/usr/include/x86_64-linux-gnu/bits/unistd_ext.h:
+
+/usr/local/include/opencv4/opencv2/stitching/detail/seam_finders.hpp:
+
+/usr/include/c++/11/filesystem:
 
 /usr/include/c++/11/bits/locale_facets_nonio.h:
 
@@ -4058,6 +4128,32 @@ model/hardware/cameras/_cam.hpp:
 
 /usr/include/c++/11/bits/locale_conv.h:
 
+/usr/include/c++/11/bits/quoted_string.h:
+
+/usr/include/c++/11/bits/exception_defines.h:
+
+/usr/include/oneapi/tbb/task.h:
+
+/usr/lib/gcc/x86_64-linux-gnu/11/include/lwpintrin.h:
+
+/usr/include/c++/11/pstl/glue_memory_impl.h:
+
+/usr/include/x86_64-linux-gnu/bits/timesize.h:
+
+threadweaver/debugging.hpp:
+
+/usr/include/x86_64-linux-gnu/bits/stdio_lim.h:
+
+/usr/lib/gcc/x86_64-linux-gnu/11/include/amxbf16intrin.h:
+
+/usr/include/c++/11/bitset:
+
+/usr/include/GL/gl.h:
+
+/usr/include/c++/11/bits/postypes.h:
+
+/usr/local/include/opencv4/opencv2/flann/dist.h:
+
 /usr/include/c++/11/stack:
 
 /usr/include/c++/11/pstl/unseq_backend_simd.h:
@@ -4074,8 +4170,6 @@ model/perfcheckers/framerate.hpp:
 
 /usr/include/oneapi/tbb/parallel_scan.h:
 
-/usr/local/include/opencv4/opencv2/imgcodecs.hpp:
-
 /usr/include/c++/11/bits/stl_tree.h:
 
 /usr/include/oneapi/tbb/tbb_allocator.h:
@@ -4106,8 +4200,6 @@ model/patterns/observer/observer.hpp:
 
 /usr/include/c++/11/pstl/parallel_backend_utils.h:
 
-/usr/local/include/opencv4/opencv2/flann/index_testing.h:
-
 /usr/include/tbb/blocked_range.h:
 
 /usr/include/x86_64-linux-gnu/bits/mathcalls.h:
@@ -4146,22 +4238,12 @@ model/patterns/observer/observer.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/lzcntintrin.h:
 
-/usr/include/c++/11/bits/exception_defines.h:
-
-/usr/include/oneapi/tbb/task.h:
-
-/usr/lib/gcc/x86_64-linux-gnu/11/include/lwpintrin.h:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/movdirintrin.h:
 
 /usr/include/c++/11/memory_resource:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/mwaitintrin.h:
 
-/usr/include/x86_64-linux-gnu/bits/endianness.h:
-
-/usr/local/include/opencv4/opencv2/flann/composite_index.h:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/pconfigintrin.h:
 
 /usr/include/x86_64-linux-gnu/sys/cdefs.h:
@@ -4170,10 +4252,6 @@ model/patterns/observer/observer.hpp:
 
 /usr/include/c++/11/bits/stl_set.h:
 
-/usr/include/x86_64-linux-gnu/bits/typesizes.h:
-
-/usr/local/include/opencv4/opencv2/highgui.hpp:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/pkuintrin.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/rdseedintrin.h:
@@ -4294,10 +4372,6 @@ model/patterns/observer/observer.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512bf16vlintrin.h:
 
-/usr/include/x86_64-linux-gnu/bits/stdio_lim.h:
-
-/usr/lib/gcc/x86_64-linux-gnu/11/include/amxbf16intrin.h:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/keylockerintrin.h:
 
 /usr/include/linux/close_range.h:
@@ -4306,6 +4380,10 @@ model/patterns/observer/observer.hpp:
 
 /usr/local/include/opencv4/opencv2/flann/defines.h:
 
+/usr/include/c++/11/math.h:
+
+/usr/include/oneapi/tbb/version.h:
+
 /usr/local/include/opencv4/opencv2/flann/nn_index.h:
 
 /usr/include/oneapi/tbb/detail/_small_object_pool.h:
@@ -4346,8 +4424,6 @@ model/patterns/observer/observer.hpp:
 
 /usr/include/c++/11/pstl/glue_numeric_impl.h:
 
-/usr/include/c++/11/pstl/glue_memory_impl.h:
-
 /usr/local/include/opencv4/opencv2/opencv.hpp:
 
 /usr/local/include/opencv4/opencv2/flann/config.h:
@@ -4401,25 +4477,3 @@ pipeline/abstract/pipelineNode.cpp:
 /usr/include/x86_64-linux-gnu/bits/types/struct_tm.h:
 
 /usr/local/include/opencv4/opencv2/flann/allocator.h:
-
-/usr/local/include/opencv4/opencv2/flann/linear_index.h:
-
-/usr/local/include/opencv4/opencv2/flann/hierarchical_clustering_index.h:
-
-/usr/local/include/opencv4/opencv2/flann/lsh_index.h:
-
-/usr/include/c++/11/bits/quoted_string.h:
-
-/usr/include/oneapi/tbb/version.h:
-
-/usr/include/c++/11/math.h:
-
-/usr/local/include/opencv4/opencv2/flann/autotuned_index.h:
-
-/usr/include/x86_64-linux-gnu/bits/types/cookie_io_functions_t.h:
-
-/usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vlbwintrin.h:
-
-/usr/local/include/opencv4/opencv2/flann/sampling.h:
-
-/usr/local/include/opencv4/opencv2/videoio.hpp:
diff --git a/src/pipeline/CMakeLists.txt b/src/pipeline/CMakeLists.txt
index f1afef4..a9606f1 100644
--- a/src/pipeline/CMakeLists.txt
+++ b/src/pipeline/CMakeLists.txt
@@ -30,11 +30,11 @@ target_link_libraries(pipelineLib windows)
 target_link_libraries(pipelineLib ${OPENGL_LIBRARIES})
 target_link_libraries(pipelineLib ${GLUT_INCLUDE_DIRS})
 target_link_libraries(pipelineLib ${OpenCV_LIBS})
-target_link_libraries(pipelineLib perfcheckers)
 target_link_libraries(pipelineLib support)
 target_link_libraries(pipelineLib psvr)
 target_link_libraries(pipelineLib controllers)
 target_link_libraries(pipelineLib hw)
+target_link_libraries(pipelineLib threadweaver)
 
 #target_link_libraries(ui cameras)
 #target_link_libraries(ui zbarLib)
diff --git a/src/pipeline/abstract/pipelineNode.cpp b/src/pipeline/abstract/pipelineNode.cpp
index 8ad1fba..883b485 100644
--- a/src/pipeline/abstract/pipelineNode.cpp
+++ b/src/pipeline/abstract/pipelineNode.cpp
@@ -2,7 +2,7 @@
 
 PipelineNode::PipelineNode()
 {
-
+    DEBUG_LOG("pipeline created")
 }
 
 bool PipelineNode::isRunning()
@@ -10,8 +10,20 @@ bool PipelineNode::isRunning()
     return this->shouldRun;
 }
 
-bool PipelineNode::isDependant(){
-    return previous != nullptr;
+std::thread *PipelineNode::joinThread()
+{
+    if (isRunning())
+        stop();
+    return localThread;
+}
+
+void PipelineNode::setThreadToCore(int core)
+{
+    if (core < 0)
+        core = std::abs(core);
+    while (core > Threadweaver::getCoreCount())
+        core = std::abs(core - Threadweaver::getCoreCount());
+    Threadweaver::stick_this_thread_to_core(localThread, core);
 }
 
 void PipelineNode::stop()
@@ -19,6 +31,13 @@ void PipelineNode::stop()
     this->shouldRun = false;
 }
 
+void PipelineNode::start()
+{
+    this->shouldRun = true;
+    this->localThread = new std::thread(&PipelineNode::run, this);
+    DEBUG_LOG("pipeline started on thread " << localThread->get_id())
+}
+
 cv::UMat PipelineNode::getOutput()
 {
     const std::lock_guard<std::mutex> lock(outputLock);
@@ -27,6 +46,11 @@ cv::UMat PipelineNode::getOutput()
 
 void PipelineNode::run()
 {
+    while (!shouldRun || (!isFirst && (previous == nullptr || previous->ranOnce)))
+    {                                                              // sleep until told to run and if you're not the first in your hierarchy,
+        std::this_thread::sleep_for(std::chrono::milliseconds(5)); // wait for previous to be assigned
+    }
+    //DEBUG_LOG("pipeline on thread " << localThread->get_id() << " exitted wait while");
     try
     {
         this->shouldRun = true;
@@ -35,12 +59,23 @@ void PipelineNode::run()
         while (this->shouldRun)
         {
             begin = std::chrono::steady_clock::now();
-                localES.tickBegin();
-                    this->processFrame();
-                localES.tickUpdate();
+            localES.tickBegin();
+            if (!disabled)
+            {
+                this->processFrame();
+            }
+            else
+            {
+                DEBUG_LOG("pipeline on thread " << localThread->get_id() << " is shorting its output");
+                outputLock.lock();
+                output = previous->getOutput();
+                outputLock.unlock();
+            }
+            localES.tickUpdate();
             end = std::chrono::steady_clock::now();
             std::this_thread::sleep_for(std::chrono::milliseconds((1000 / this->fpsLimit) - std::chrono::duration_cast<std::chrono::milliseconds>(end - begin).count()));
         }
+        ranOnce = true;
     }
     catch (...)
     {
diff --git a/src/pipeline/abstract/pipelineNode.hpp b/src/pipeline/abstract/pipelineNode.hpp
index bcb8c55..3c2c9fd 100644
--- a/src/pipeline/abstract/pipelineNode.hpp
+++ b/src/pipeline/abstract/pipelineNode.hpp
@@ -4,7 +4,10 @@
 #include <atomic>
 #include <thread>
 #include <ios>
+#include <thread>
+
 #include "../../model/perfcheckers/framerate.hpp"
+#include "../../threadweaver/threadweaver.hpp"
 
 class PipelineNode{
     public:
@@ -14,15 +17,21 @@ class PipelineNode{
         cv::UMat getOutput();
         void run();
         bool isRunning();
-        bool isDependant();
         void stop();
+        void start();
+        std::thread* joinThread();
+        void setThreadToCore(int core);
         //virtual ~PipelineNode();
         float cost = 1;
     protected:
         std::mutex outputLock;
         cv::UMat output;
-        std::atomic_bool shouldRun;
-        std::atomic_bool  disabled;
-        PipelineNode* previous;
+        std::atomic_bool shouldRun = false;
+        std::atomic_bool disabled = false;  //if true short circuit your input to your output
+        std::atomic_bool isLast = true;     //needs to be changed by the implementing classes
+        std::atomic_bool isFirst = true;    //needs to be changed by the implementing classes
+        std::atomic_bool ranOnce = false;
+        PipelineNode* previous = nullptr;   //represents the previous PipelineNode in the hierarchy, it is the original umat source
+        std::thread* localThread;           //represents the local thread for this node
         virtual void processFrame()=0;
 };
\ No newline at end of file
diff --git a/src/pipeline/members/cameraPickerNode.cpp b/src/pipeline/members/cameraPickerNode.cpp
index 96cdf92..aada1e7 100644
--- a/src/pipeline/members/cameraPickerNode.cpp
+++ b/src/pipeline/members/cameraPickerNode.cpp
@@ -2,13 +2,20 @@
 
 cameraPickerNode::cameraPickerNode(cameraManager* sourceManager) : _sourceManager(sourceManager)
 {
+    isFirst = true;
     cost = 0.25;
 }
 
 void cameraPickerNode::processFrame(){
+    DEBUG_LOG("cameraPickerNode on thread " << localThread->get_id() << " is picking its camera frame");
+    if(_sourceManager == nullptr || _sourceManager->accessLocks.empty() || _sourceManager->captures.empty()){
+        DEBUG_LOG("cameraPickerNode on thread " << localThread->get_id() << " had no source manager or captures, exitting...");
+        exit(1);
+    }
     outputLock.lock();
     _sourceManager->accessLocks[0]->lock();
     output = _sourceManager->captures[0];
     _sourceManager->accessLocks[0]->unlock();
     outputLock.unlock();
+    DEBUG_LOG("cameraPickerNode on thread " << localThread->get_id() << " is done picking its camera frame");
 }
\ No newline at end of file
diff --git a/src/pipeline/members/displayOutputNode.cpp b/src/pipeline/members/displayOutputNode.cpp
index 8c66667..595aa74 100644
--- a/src/pipeline/members/displayOutputNode.cpp
+++ b/src/pipeline/members/displayOutputNode.cpp
@@ -3,12 +3,14 @@
 DisplayOutputNode::DisplayOutputNode(PipelineNode* predecessor, Window *managed) : _managed(managed)
 {
     previous = predecessor;
+    isLast = true;
     //output = NULL;
     cost = 2;
 }
 
 void DisplayOutputNode::processFrame()
 {
+    DEBUG_LOG("DisplayOutputNode on thread " << localThread->get_id() << " is procesing its camera frame");
     if (!inited)
     {
 #ifdef OGLWIN
diff --git a/src/pipeline/members/uiDrawerNode.cpp b/src/pipeline/members/uiDrawerNode.cpp
index c08b87b..5883c1e 100644
--- a/src/pipeline/members/uiDrawerNode.cpp
+++ b/src/pipeline/members/uiDrawerNode.cpp
@@ -3,15 +3,21 @@
 #include <map>
 #include <iostream>
 
-UiDrawerNode::UiDrawerNode()
+UiDrawerNode::UiDrawerNode(UiController* backController) : _backController(backController)
 {
+    isFirst = true;
     previous = nullptr;
 }
 
 void UiDrawerNode::processFrame()
 {
+    DEBUG_LOG("UiDrawerNode on thread " << localThread->get_id() << " is procesing its camera frame");
     try
     {
+        if(_backController == nullptr){
+            DEBUG_LOG("UiDrawerNode on thread " << localThread->get_id() << " had no back controller, exitting...");
+        }
+
         int &wd = _backController->menuSize.width;
         int &he = _backController->menuSize.height;
         unsigned int stackerIndex = 0;
@@ -29,10 +35,10 @@ void UiDrawerNode::processFrame()
         //uiFps = fcheckManager::fcDrawMenu.fps;
         //Drawfps = fcheckManager::fcShow.fps;
         //camFPS = fcheckManager::fcCam.fps;
-        cv::putText(MenuMat, cv::format("Eps Ui drawer: %d", uiFps), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
-        cv::putText(MenuMat, cv::format("Eps Ui merger: %d", mFps), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
-        cv::putText(MenuMat, cv::format("Eps imshow: %d", Drawfps), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
-        cv::putText(MenuMat, cv::format("Eps Camera 0: %d", camFPS), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
+        //cv::putText(MenuMat, cv::format("Eps Ui drawer: %d", uiFps), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
+        //cv::putText(MenuMat, cv::format("Eps Ui merger: %d", mFps), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
+        //cv::putText(MenuMat, cv::format("Eps imshow: %d", Drawfps), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
+        //cv::putText(MenuMat, cv::format("Eps Camera 0: %d", camFPS), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
 
         cv::rectangle(MenuMat, cv::Rect2i(0, ((20 * _backController->selectedIndex) + 20) + 5, wd, 20), Scalar(200, 0, 0), 3, 8, 0);
         outputLock.lock();
diff --git a/src/pipeline/members/uiDrawerNode.hpp b/src/pipeline/members/uiDrawerNode.hpp
index 3745463..0752c7d 100644
--- a/src/pipeline/members/uiDrawerNode.hpp
+++ b/src/pipeline/members/uiDrawerNode.hpp
@@ -3,7 +3,7 @@
 
 class UiDrawerNode : public PipelineNode{
     public:
-    UiDrawerNode();
+    UiDrawerNode(UiController* backController);
     protected:
     void processFrame() override;
     UiController* _backController;
diff --git a/src/pipeline/members/uiMergerNode.cpp b/src/pipeline/members/uiMergerNode.cpp
index cabf7e2..5d65ce5 100644
--- a/src/pipeline/members/uiMergerNode.cpp
+++ b/src/pipeline/members/uiMergerNode.cpp
@@ -3,11 +3,14 @@
 
 UiMergerNode::UiMergerNode(PipelineNode* _previous,PipelineNode* menuDrawer, UiController* backController) : _menuDrawer(menuDrawer), _backController(backController)
 {
+    isFirst = false;
+    isLast = false;
     previous = _previous;
 }
 
 void UiMergerNode::processFrame()
 {
+    DEBUG_LOG("UiMergerNode on thread " << localThread->get_id() << " is procesing its camera frame");
     cv::UMat UiMat = UiSupport::prepareUiMat();         // prepare black background 960*1080
     cv::UMat cameraFrame = previous->getOutput();
 
diff --git a/src/pipeline/pipeline.cpp b/src/pipeline/pipeline.cpp
index 7760c8e..68e1f75 100644
--- a/src/pipeline/pipeline.cpp
+++ b/src/pipeline/pipeline.cpp
@@ -5,6 +5,7 @@
 Pipeline::Pipeline(){
     WindowManager* wm = new WindowManager();
     cameraManager* cm = new cameraManager();
+    cm->runCapture();
     psvr::Psvr* hmd = new psvr::Psvr();
     UiController* uc = new UiController(hmd);
     SerialPortManager* sp = new SerialPortManager();
@@ -12,7 +13,10 @@ Pipeline::Pipeline(){
     sp->Attach(uc);
 
     nodes.push_back(new cameraPickerNode(cm));
-    nodes.push_back(new UiDrawerNode());
+    nodes.push_back(new UiDrawerNode(uc));
     nodes.push_back(new UiMergerNode(nodes.at(0),nodes.at(1),uc));
     nodes.push_back(new DisplayOutputNode(nodes.at(2), wm->managedUIs.at(0)));
+
+    for(PipelineNode* pn : nodes)
+        pn->start();
 }
\ No newline at end of file
diff --git a/src/prog b/src/prog
index 4555d04..673c1a7 100755
Binary files a/src/prog and b/src/prog differ
diff --git a/src/threadweaver/debugging.hpp b/src/threadweaver/debugging.hpp
index 27804db..775f8da 100644
--- a/src/threadweaver/debugging.hpp
+++ b/src/threadweaver/debugging.hpp
@@ -2,7 +2,7 @@
 #include <string>
 //#include "../model/perfcheckers/framerate.hpp"
 
-//#define DBGMODE
+#define DBGMODE
 #define DBGCOMM
 //#define OGLWIN
 #define GFXCORE 0