separated merge and ui drawing pipelines, greatly improved efficiciency

3 years ago · db728a5adf
parent 4854ee7705
commit db728a5adf
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-/usr/bin/c++ CMakeFiles/prog.dir/main.cpp.o -o prog   -L/home/kanken/code/AHRS_core/src  -Wl,-rpath,/home/kanken/code/AHRS_core/src:/usr/local/lib hw/libhw.a -ltbb ui/libui.a /usr/lib/x86_64-linux-gnu/libOpenGL.so /usr/lib/x86_64-linux-gnu/libGLX.so /usr/lib/x86_64-linux-gnu/libGLU.so psvr/libpsvr.a ihidapi/libihidapi.a /usr/local/lib/libhidapi-hidraw.so.0.13.0 cameras/libcameras.a /usr/local/lib/libopencv_gapi.so.4.6.0 /usr/local/lib/libopencv_stitching.so.4.6.0 /usr/local/lib/libopencv_aruco.so.4.6.0 /usr/local/lib/libopencv_barcode.so.4.6.0 /usr/local/lib/libopencv_bgsegm.so.4.6.0 /usr/local/lib/libopencv_bioinspired.so.4.6.0 /usr/local/lib/libopencv_ccalib.so.4.6.0 /usr/local/lib/libopencv_dnn_objdetect.so.4.6.0 /usr/local/lib/libopencv_dnn_superres.so.4.6.0 /usr/local/lib/libopencv_dpm.so.4.6.0 /usr/local/lib/libopencv_face.so.4.6.0 /usr/local/lib/libopencv_freetype.so.4.6.0 /usr/local/lib/libopencv_fuzzy.so.4.6.0 /usr/local/lib/libopencv_hfs.so.4.6.0 /usr/local/lib/libopencv_img_hash.so.4.6.0 /usr/local/lib/libopencv_intensity_transform.so.4.6.0 /usr/local/lib/libopencv_line_descriptor.so.4.6.0 /usr/local/lib/libopencv_mcc.so.4.6.0 /usr/local/lib/libopencv_quality.so.4.6.0 /usr/local/lib/libopencv_rapid.so.4.6.0 /usr/local/lib/libopencv_reg.so.4.6.0 /usr/local/lib/libopencv_rgbd.so.4.6.0 /usr/local/lib/libopencv_saliency.so.4.6.0 /usr/local/lib/libopencv_stereo.so.4.6.0 /usr/local/lib/libopencv_structured_light.so.4.6.0 /usr/local/lib/libopencv_phase_unwrapping.so.4.6.0 /usr/local/lib/libopencv_superres.so.4.6.0 /usr/local/lib/libopencv_optflow.so.4.6.0 /usr/local/lib/libopencv_surface_matching.so.4.6.0 /usr/local/lib/libopencv_tracking.so.4.6.0 /usr/local/lib/libopencv_highgui.so.4.6.0 /usr/local/lib/libopencv_datasets.so.4.6.0 /usr/local/lib/libopencv_plot.so.4.6.0 /usr/local/lib/libopencv_text.so.4.6.0 /usr/local/lib/libopencv_videostab.so.4.6.0 /usr/local/lib/libopencv_videoio.so.4.6.0 /usr/local/lib/libopencv_wechat_qrcode.so.4.6.0 /usr/local/lib/libopencv_xfeatures2d.so.4.6.0 /usr/local/lib/libopencv_ml.so.4.6.0 /usr/local/lib/libopencv_shape.so.4.6.0 /usr/local/lib/libopencv_ximgproc.so.4.6.0 /usr/local/lib/libopencv_video.so.4.6.0 /usr/local/lib/libopencv_xobjdetect.so.4.6.0 /usr/local/lib/libopencv_imgcodecs.so.4.6.0 /usr/local/lib/libopencv_objdetect.so.4.6.0 /usr/local/lib/libopencv_calib3d.so.4.6.0 /usr/local/lib/libopencv_dnn.so.4.6.0 /usr/local/lib/libopencv_features2d.so.4.6.0 /usr/local/lib/libopencv_flann.so.4.6.0 /usr/local/lib/libopencv_xphoto.so.4.6.0 /usr/local/lib/libopencv_photo.so.4.6.0 /usr/local/lib/libopencv_imgproc.so.4.6.0 /usr/local/lib/libopencv_core.so.4.6.0 threadweaver/libthreadweaver.a perfcheckers/libperfcheckers.a 
+/usr/bin/c++ CMakeFiles/prog.dir/main.cpp.o CMakeFiles/prog.dir/topLevelManager.cpp.o -o prog   -L/home/kanken/code/AHRS_core/src  -Wl,-rpath,/home/kanken/code/AHRS_core/src:/usr/local/lib hw/libhw.a -ltbb ui/libui.a /usr/lib/x86_64-linux-gnu/libOpenGL.so /usr/lib/x86_64-linux-gnu/libGLX.so /usr/lib/x86_64-linux-gnu/libGLU.so psvr/libpsvr.a ihidapi/libihidapi.a /usr/local/lib/libhidapi-hidraw.so.0.13.0 cameras/libcameras.a /usr/local/lib/libopencv_gapi.so.4.6.0 /usr/local/lib/libopencv_stitching.so.4.6.0 /usr/local/lib/libopencv_aruco.so.4.6.0 /usr/local/lib/libopencv_barcode.so.4.6.0 /usr/local/lib/libopencv_bgsegm.so.4.6.0 /usr/local/lib/libopencv_bioinspired.so.4.6.0 /usr/local/lib/libopencv_ccalib.so.4.6.0 /usr/local/lib/libopencv_dnn_objdetect.so.4.6.0 /usr/local/lib/libopencv_dnn_superres.so.4.6.0 /usr/local/lib/libopencv_dpm.so.4.6.0 /usr/local/lib/libopencv_face.so.4.6.0 /usr/local/lib/libopencv_freetype.so.4.6.0 /usr/local/lib/libopencv_fuzzy.so.4.6.0 /usr/local/lib/libopencv_hfs.so.4.6.0 /usr/local/lib/libopencv_img_hash.so.4.6.0 /usr/local/lib/libopencv_intensity_transform.so.4.6.0 /usr/local/lib/libopencv_line_descriptor.so.4.6.0 /usr/local/lib/libopencv_mcc.so.4.6.0 /usr/local/lib/libopencv_quality.so.4.6.0 /usr/local/lib/libopencv_rapid.so.4.6.0 /usr/local/lib/libopencv_reg.so.4.6.0 /usr/local/lib/libopencv_rgbd.so.4.6.0 /usr/local/lib/libopencv_saliency.so.4.6.0 /usr/local/lib/libopencv_stereo.so.4.6.0 /usr/local/lib/libopencv_structured_light.so.4.6.0 /usr/local/lib/libopencv_phase_unwrapping.so.4.6.0 /usr/local/lib/libopencv_superres.so.4.6.0 /usr/local/lib/libopencv_optflow.so.4.6.0 /usr/local/lib/libopencv_surface_matching.so.4.6.0 /usr/local/lib/libopencv_tracking.so.4.6.0 /usr/local/lib/libopencv_highgui.so.4.6.0 /usr/local/lib/libopencv_datasets.so.4.6.0 /usr/local/lib/libopencv_plot.so.4.6.0 /usr/local/lib/libopencv_text.so.4.6.0 /usr/local/lib/libopencv_videostab.so.4.6.0 /usr/local/lib/libopencv_videoio.so.4.6.0 /usr/local/lib/libopencv_wechat_qrcode.so.4.6.0 /usr/local/lib/libopencv_xfeatures2d.so.4.6.0 /usr/local/lib/libopencv_ml.so.4.6.0 /usr/local/lib/libopencv_shape.so.4.6.0 /usr/local/lib/libopencv_ximgproc.so.4.6.0 /usr/local/lib/libopencv_video.so.4.6.0 /usr/local/lib/libopencv_xobjdetect.so.4.6.0 /usr/local/lib/libopencv_imgcodecs.so.4.6.0 /usr/local/lib/libopencv_objdetect.so.4.6.0 /usr/local/lib/libopencv_calib3d.so.4.6.0 /usr/local/lib/libopencv_dnn.so.4.6.0 /usr/local/lib/libopencv_features2d.so.4.6.0 /usr/local/lib/libopencv_flann.so.4.6.0 /usr/local/lib/libopencv_xphoto.so.4.6.0 /usr/local/lib/libopencv_photo.so.4.6.0 /usr/local/lib/libopencv_imgproc.so.4.6.0 /usr/local/lib/libopencv_core.so.4.6.0 threadweaver/libthreadweaver.a perfcheckers/libperfcheckers.a 
--- a/src/CMakeFiles/prog.dir/progress.make
+++ b/src/CMakeFiles/prog.dir/progress.make
@ -1,3 +1,4 @@
 CMAKE_PROGRESS_1 = 11
 CMAKE_PROGRESS_2 = 12
+CMAKE_PROGRESS_3 = 13

--- a/src/CMakeFiles/progress.marks
+++ b/src/CMakeFiles/progress.marks
@ -1 +1 @@
-22
+25
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@ -32,7 +32,7 @@ add_subdirectory(psvr)
 add_subdirectory(ui)
 add_subdirectory(hw)

-set(main_source_files main.cpp main.hpp)
+set(main_source_files main.cpp main.hpp topLevelManager.cpp)

 add_executable(prog ${main_source_files})

--- a/src/Makefile
+++ b/src/Makefile
@ -244,6 +244,30 @@ main.cpp.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/prog.dir/build.make CMakeFiles/prog.dir/main.cpp.s
 .PHONY : main.cpp.s

+topLevelManager.o: topLevelManager.cpp.o
+.PHONY : topLevelManager.o
+
+# target to build an object file
+topLevelManager.cpp.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/prog.dir/build.make CMakeFiles/prog.dir/topLevelManager.cpp.o
+.PHONY : topLevelManager.cpp.o
+
+topLevelManager.i: topLevelManager.cpp.i
+.PHONY : topLevelManager.i
+
+# target to preprocess a source file
+topLevelManager.cpp.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/prog.dir/build.make CMakeFiles/prog.dir/topLevelManager.cpp.i
+.PHONY : topLevelManager.cpp.i
+
+topLevelManager.s: topLevelManager.cpp.s
+.PHONY : topLevelManager.s
+
+# target to generate assembly for a file
+topLevelManager.cpp.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/prog.dir/build.make CMakeFiles/prog.dir/topLevelManager.cpp.s
+.PHONY : topLevelManager.cpp.s
+
 # Help Target
 help:
 	@echo "The following are some of the valid targets for this Makefile:"
@ -263,6 +287,9 @@ help:
 	@echo "... main.o"
 	@echo "... main.i"
 	@echo "... main.s"
+	@echo "... topLevelManager.o"
+	@echo "... topLevelManager.i"
+	@echo "... topLevelManager.s"
 .PHONY : help


--- a/src/cameras/CMakeLists.txt
+++ b/src/cameras/CMakeLists.txt
@ -15,5 +15,4 @@ find_package( OpenCV REQUIRED )

 target_link_libraries(cameras ${OpenCV_LIBS})
 target_link_libraries(cameras threadweaver)
-target_link_libraries(cameras perfcheckers)
 MESSAGE(STATUS "Done building cameras")
--- a/src/cameras/_cam.hpp
+++ b/src/cameras/_cam.hpp
@ -15,7 +15,6 @@
 #include <opencv2/opencv.hpp>
 #include <opencv2/videoio/videoio_c.h>
 #include "../threadweaver/threadweaver.hpp"
-#include "../perfcheckers/framerate.hpp"

 #define DEBUG_ELAPSED_START std::chrono::steady_clock::time_point bgd = std::chrono::steady_clock::now();
 #define DEBUG_ELAPSED_END std::chrono::steady_clock::time_point bge = std::chrono::steady_clock::now();
--- a/src/hw/CMakeFiles/progress.marks
+++ b/src/hw/CMakeFiles/progress.marks
@ -1 +1 @@
-20
+22
--- a/src/hw/serial.cpp
+++ b/src/hw/serial.cpp
@ -48,7 +48,7 @@ void SerialPortManager::init(){
    cout << "starting hardware watcher thread" << endl;
    std::thread* t = new std::thread(SerialPortManager::runPort);
    cout << "done" << endl;
-    Threadweaver::stick_this_thread_to_core(t,HWCORE);
+    Threadweaver::stick_this_thread_to_core(t,CAMCORE);
    Threadweaver::hardwareWatcherThread = t;
    shouldRun = true;
 }
--- a/src/main.cpp
+++ b/src/main.cpp
@ -1,50 +1,8 @@
 #include "main.hpp"
-#include <future>
-#include <sched.h>
-using namespace psvr;

 int main(int argc, char* argv[])
 {
-try{
-char tmp[256];
-getcwd(tmp, 256);
-std::cout << "Current working directory: " << tmp << std::endl;
-
-unsigned num_cpus = std::thread::hardware_concurrency();
-cout << num_cpus <<" cores detected" << endl;
-std::cout << cv::getBuildInformation() << std::endl;
-
-
-//psvr::Psvr::open();
-ui::UiManager::init();
-std::future<int> fobj = std::async (cameraManager::init);   //asynchronous camera manager start
-ui::UiController::init();
-ui::UiController::runIntro = true;
-std::future<void> menudraw = std::async (ui::UiDrawer::drawMenu);
-sleep(5);
-menudraw.get();
-fobj.get();
-
-cameraManager::runCapture();
-SerialPortManager::init();
-ui::UiController::exitCalled = false;
-ui::UiController::runIntro = false;
-
-ui::UiDrawer::runDrawUi();
-std::thread* t = new std::thread(ui::UiDrawer::runDrawUi);
-Threadweaver::stick_this_thread_to_core(t,GFXCORE);
-Threadweaver::gfxPipelineThread = t;
-DEBUG_LOG("Entering sleep while")
-while(!ui::UiController::exitCalled){
-    sleep(5);
-}
-}
-catch(...){
-    cerr << "caught maint thread exception" << endl;
-}
-
-DEBUG_LOG("Exitted sleep while")
-Threadweaver::gfxPipelineThread->join();
-
-return 0;
+    topLevelManager tlp = topLevelManager();
+    tlp.init();
+    return 0;
 }
--- a/src/main.hpp
+++ b/src/main.hpp
@ -5,5 +5,15 @@
 #include <unistd.h>
 #include <iostream>
 #include <chrono>
+#include <future>
+#include <sched.h>

-#include "./hw/serial.hpp"
+#include "./hw/serial.hpp"
+
+class topLevelManager{
+    public:
+    void init();
+    private:
+    void detectHWAndConfig();
+    void setupThreads();
+};
--- a/src/perfcheckers/fcheckManager.cpp
+++ b/src/perfcheckers/fcheckManager.cpp
@ -1,5 +1,6 @@
 #include "framerate.hpp"

-framerateChecker fcheckManager::fcUI;
+framerateChecker fcheckManager::fcDrawMenu;
 framerateChecker fcheckManager::fcShow;
-framerateChecker fcheckManager::fcCam;
+framerateChecker fcheckManager::fcCam;
+framerateChecker fcheckManager::fcMergeUI;
--- a/src/perfcheckers/framerate.hpp
+++ b/src/perfcheckers/framerate.hpp
@ -17,7 +17,8 @@ class framerateChecker{

 class fcheckManager{
    public:
-    static framerateChecker fcUI;
+    static framerateChecker fcDrawMenu;
+    static framerateChecker fcMergeUI;
    static framerateChecker fcShow;
    static framerateChecker fcCam;
 };
--- a/src/prog
+++ b/src/prog
--- a/src/psvr/CMakeFiles/psvr.dir/progress.make
+++ b/src/psvr/CMakeFiles/psvr.dir/progress.make
@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 13
-CMAKE_PROGRESS_2 = 14
+CMAKE_PROGRESS_1 = 14
+CMAKE_PROGRESS_2 = 15

--- a/src/threadweaver/CMakeFiles/progress.marks
+++ b/src/threadweaver/CMakeFiles/progress.marks
@ -1 +1 @@
-2
+5
--- a/src/threadweaver/CMakeFiles/threadweaver.dir/DependInfo.cmake
+++ b/src/threadweaver/CMakeFiles/threadweaver.dir/DependInfo.cmake
@ -13,6 +13,7 @@ set(CMAKE_DEPENDS_DEPENDENCY_FILES

 # Targets to which this target links.
 set(CMAKE_TARGET_LINKED_INFO_FILES
+  "/home/kanken/code/AHRS_core/src/perfcheckers/CMakeFiles/perfcheckers.dir/DependInfo.cmake"
  )

 # Fortran module output directory.
--- a/src/threadweaver/CMakeFiles/threadweaver.dir/compiler_depend.internal
+++ b/src/threadweaver/CMakeFiles/threadweaver.dir/compiler_depend.internal
@ -236,4 +236,8 @@ threadweaver/CMakeFiles/threadweaver.dir/threadweaver.cpp.o
 /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/perfcheckers/framerate.hpp
+ /usr/include/c++/11/atomic
+ /usr/include/c++/11/bits/atomic_base.h
+ /usr/include/c++/11/bits/atomic_lockfree_defines.h

--- a/src/threadweaver/CMakeFiles/threadweaver.dir/compiler_depend.make
+++ b/src/threadweaver/CMakeFiles/threadweaver.dir/compiler_depend.make
@ -234,9 +234,15 @@ threadweaver/CMakeFiles/threadweaver.dir/threadweaver.cpp.o: threadweaver/thread
  /usr/include/c++/11/bits/fs_dir.h \
  /usr/include/c++/11/bits/fs_ops.h \
  threadweaver/debugging.hpp \
-  /usr/include/c++/11/iostream
+  /usr/include/c++/11/iostream \
+  perfcheckers/framerate.hpp \
+  /usr/include/c++/11/atomic \
+  /usr/include/c++/11/bits/atomic_base.h \
+  /usr/include/c++/11/bits/atomic_lockfree_defines.h


+perfcheckers/framerate.hpp:
+
 /usr/include/c++/11/bits/fs_ops.h:

 /usr/include/c++/11/bits/istream.tcc:
@ -263,6 +269,8 @@ threadweaver/CMakeFiles/threadweaver.dir/threadweaver.cpp.o: threadweaver/thread

 /usr/include/c++/11/bits/streambuf_iterator.h:

+/usr/include/c++/11/bits/atomic_lockfree_defines.h:
+
 /usr/include/c++/11/bits/streambuf.tcc:

 /usr/include/c++/11/bits/ios_base.h:
@ -391,6 +399,8 @@ threadweaver/threadweaver.hpp:

 /usr/include/features.h:

+/usr/include/c++/11/bits/atomic_base.h:
+
 /usr/include/c++/11/ext/numeric_traits.h:

 /usr/include/x86_64-linux-gnu/bits/long-double.h:
@ -555,6 +565,8 @@ threadweaver/threadweaver.cpp:

 /usr/include/c++/11/exception:

+/usr/include/c++/11/atomic:
+
 /usr/include/c++/11/bits/exception_defines.h:

 /usr/include/c++/11/bits/string_view.tcc:
--- a/src/threadweaver/CMakeFiles/threadweaver.dir/progress.make
+++ b/src/threadweaver/CMakeFiles/threadweaver.dir/progress.make
@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 15
-CMAKE_PROGRESS_2 = 16
+CMAKE_PROGRESS_1 = 16
+CMAKE_PROGRESS_2 = 17

--- a/src/threadweaver/CMakeLists.txt
+++ b/src/threadweaver/CMakeLists.txt
@ -5,4 +5,5 @@ set(thredweaver_source_files
 )
 MESSAGE(STATUS "building threadweaver")
 add_library(threadweaver ${thredweaver_source_files})
+target_link_libraries(threadweaver perfcheckers)
 MESSAGE(STATUS "done building threadweaver")
--- a/src/threadweaver/debugging.hpp
+++ b/src/threadweaver/debugging.hpp
@ -1,13 +1,20 @@
 #include <iostream>
 #include <string>
+#include "../perfcheckers/framerate.hpp"

 //#define DBGMODE
 #define DBGCOMM
-#define OGLWIN
+//#define OGLWIN
 #define GFXCORE 0
 #define DISPLAYCORE 1
 #define CAMCORE 2
-#define HWCORE 3
+#define MERGECORE 3
+
+#define QU(x) #x
+#define QUH(x) QU(x)
+
+#define VERSION_d 0.3
+#define VERSION QUH(VERSION_d)

 #ifdef DBGMODE
 #define DEBUG_LOG(x) std::cout << "-DEBUG: " << x << std::endl;
--- a/src/threadweaver/threadweaver.cpp
+++ b/src/threadweaver/threadweaver.cpp
@ -4,6 +4,7 @@ std::vector<std::thread*> Threadweaver::captureThreads;
 std::thread* Threadweaver::hardwareWatcherThread;
 std::thread* Threadweaver::osUiDrawerThread;
 std::thread* Threadweaver::gfxPipelineThread;
+std::thread* Threadweaver::mergerThread;

 void Threadweaver::stick_this_thread_to_core(std::thread* t,int core_id){
    unsigned num_cpus = std::thread::hardware_concurrency();
--- a/src/threadweaver/threadweaver.hpp
+++ b/src/threadweaver/threadweaver.hpp
@ -11,6 +11,7 @@ class Threadweaver{
    static std::vector<std::thread*> captureThreads;
    static std::thread* hardwareWatcherThread;
    static std::thread* gfxPipelineThread;
+    static std::thread* mergerThread;
    static std::thread* osUiDrawerThread;

    static void stick_this_thread_to_core(std::thread* t,int core_id);
--- a/src/topLevelManager.cpp
+++ b/src/topLevelManager.cpp
@ -0,0 +1,60 @@
+#include "main.hpp"
+
+using namespace psvr;
+
+void topLevelManager::init()
+{
+    try
+    {
+        detectHWAndConfig();
+        setupThreads();
+        DEBUG_LOG("Entering sleep while")
+        while (!ui::UiController::exitCalled)
+        {
+            sleep(1);
+        }
+    }
+    catch (...)
+    {
+        cerr << "caught main thread exception" << endl;
+    }
+
+    DEBUG_LOG("Exitted sleep while")
+    Threadweaver::gfxPipelineThread->join();
+}
+
+void topLevelManager::detectHWAndConfig(){
+    char tmp[256];
+    getcwd(tmp, 256);
+    std::cout << "Current working directory: " << tmp << std::endl;
+
+    unsigned num_cpus = std::thread::hardware_concurrency();
+    cout << num_cpus << " cores detected" << endl;
+    std::cout << cv::getBuildInformation() << std::endl;
+}
+
+void topLevelManager::setupThreads(){
+        // psvr::Psvr::open();
+        ui::UiManager::init();
+        SerialPortManager::init();
+        std::future<int> fobj = std::async(cameraManager::init); // asynchronous camera manager start
+        ui::UiController::init();
+        ui::UiController::runIntro = true;
+        std::future<void> menudraw = std::async(ui::UiDrawer::drawMenu);
+        sleep(3);   //waiting for camera pipeline to setup
+        menudraw.wait();
+        fobj.get();
+
+        cameraManager::runCapture();
+
+        ui::UiController::exitCalled = false;
+        ui::UiController::runIntro = false;
+
+        std::thread *t = new std::thread(ui::UiDrawer::runDrawMenu);
+        Threadweaver::stick_this_thread_to_core(t, GFXCORE);
+        Threadweaver::gfxPipelineThread = t;
+        sleep(1);   //waiting for first menu drawing execution (or else we get an infinite mutex lock)
+        std::thread *t2 = new std::thread(ui::UiMerger::runMerge);
+        Threadweaver::stick_this_thread_to_core(t2,MERGECORE);
+        Threadweaver::mergerThread = t2;
+}
--- a/src/ui/CMakeFiles/progress.marks
+++ b/src/ui/CMakeFiles/progress.marks
@ -1 +1 @@
-18
+20
--- a/src/ui/CMakeFiles/ui.dir/DependInfo.cmake
+++ b/src/ui/CMakeFiles/ui.dir/DependInfo.cmake
@ -8,11 +8,13 @@ set(CMAKE_DEPENDS_LANGUAGES

 # The set of dependency files which are needed:
 set(CMAKE_DEPENDS_DEPENDENCY_FILES
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-    uiController.cpp
-    uiDrawer.cpp
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+
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+.PHONY : uiElements/ui.o
+
+# target to build an object file
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+	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f ui/CMakeFiles/ui.dir/build.make ui/CMakeFiles/ui.dir/uiElements/ui.cpp.o
+.PHONY : uiElements/ui.cpp.o
+
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+.PHONY : uiElements/ui.i
+
+# target to preprocess a source file
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+	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f ui/CMakeFiles/ui.dir/build.make ui/CMakeFiles/ui.dir/uiElements/ui.cpp.i
+.PHONY : uiElements/ui.cpp.i
+
+uiElements/ui.s: uiElements/ui.cpp.s
+.PHONY : uiElements/ui.s
+
+# target to generate assembly for a file
+uiElements/ui.cpp.s:
+	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f ui/CMakeFiles/ui.dir/build.make ui/CMakeFiles/ui.dir/uiElements/ui.cpp.s
+.PHONY : uiElements/ui.cpp.s

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-	@echo "... uiController.i"
-	@echo "... uiController.s"
-	@echo "... uiDrawer.o"
-	@echo "... uiDrawer.i"
-	@echo "... uiDrawer.s"
+	@echo "... controllers/uiController.o"
+	@echo "... controllers/uiController.i"
+	@echo "... controllers/uiController.s"
+	@echo "... controllers/uiManager.o"
+	@echo "... controllers/uiManager.i"
+	@echo "... controllers/uiManager.s"
+	@echo "... drawer/uiDrawer.o"
+	@echo "... drawer/uiDrawer.i"
+	@echo "... drawer/uiDrawer.s"
+	@echo "... merger/uiMerger.o"
+	@echo "... merger/uiMerger.i"
+	@echo "... merger/uiMerger.s"
+	@echo "... support/UiSupport.o"
+	@echo "... support/UiSupport.i"
+	@echo "... support/UiSupport.s"
+	@echo "... uiElements/ui.o"
+	@echo "... uiElements/ui.i"
+	@echo "... uiElements/ui.s"
 	@echo "... uiElements/uiElements.o"
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 .PHONY : help


--- a/src/ui/_ui.hpp
+++ b/src/ui/_ui.hpp
@ -27,7 +27,7 @@ using namespace cv::ogl;
 using namespace psvr;

 namespace ui {
-    //Defines a single ui window (by default two will be displayed)
+    /// @brief this class represents a single window, there should only ever be one if the app is in opengl mode.
    class Ui{
        public:
        UMat drawSurface; //Current frame 
@ -36,24 +36,36 @@ namespace ui {
        std::string myWindow;
        void draw();
    };
-    class UiDrawer{ //drawer is static because we only ever need one
+    class UiSupport{
        public:
-        static void drawUi();
-        static void drawStartupSequence();
-        static void drawMenu();
-        static void runDrawUi();
-        static UMat OverlayMat;  //drawn at each frame (screen)
-        static UMat OsMat;   //drawn on certain events (menu)
-        static cv::ogl::Texture2D OvTexture;
-        static std::mutex OsMatLock;
-        private:
-        static framerateChecker* fpsCounter;
+        static UMat makeMatStereo(UMat toStereo);
        static UMat prepareUiMat();
        static UMat resizeIn(UMat input);
        static UMat OverlayBlackMask(UMat input, UMat toOverlay, int x = 0, int y = 0);
-        static UMat OverlayHISHMask(UMat input, UMat toOverlay);
    };
-        class UiManager{ //manager is static because we only ever need one
+    /// @brief this class is used to draw the UI from the UiController's current state
+    class UiDrawer{
+        public:
+        static void drawStartupSequence();
+        static void drawMenu();
+        static void runDrawMenu();
+        static UMat output;
+        static std::mutex outputLock;
+        static framerateChecker* fpsCounter;
+        private:
+        static void drawUi();
+    };
+    /// @brief this class is used to merge the camera's frame and the UI mat
+    class UiMerger{
+        public: 
+        static void runMerge();
+        static UMat output;
+        static std::mutex outputLock;
+        private:
+        static void mergeUI();
+    };
+    /// @brief this class manages the UI(s) [windows] used by the application, right now only one should ever be used, especially in opengl mode
+    class UiManager{
        public:
        static vector<mutex*> accessLocks;
        static vector<Ui*> managedUIs;
@ -62,7 +74,8 @@ namespace ui {
        static void cleanup();
        static void beginDrawRoutineForUi(Ui* u);     
    };
-        class UiController{
+    /// @brief this class is used to process view logic and interaction [model]
+    class UiController{
        public:
        static void init();
        static void selectedUp();
--- a/src/ui/controllers/uiController.cpp
+++ b/src/ui/controllers/uiController.cpp
@ -1,4 +1,4 @@
-#include "_ui.hpp"
+#include "../_ui.hpp"

 bool ui::UiController::showMenu;
 bool ui::UiController::exitCalled;
@ -31,7 +31,7 @@ void ui::UiController::init(){
 void ui::UiController::update(){
    time_t now = time(0);
    menutime = ctime(&now);
-    menuTitle = std::string("P-OS V0.1 ") + menutime;
+    menuTitle = std::string("P-OS ") + VERSION + " " + menutime;
 }

 void ui::UiController::selectedUp(){
--- a/src/ui/controllers/uiManager.cpp
+++ b/src/ui/controllers/uiManager.cpp
@ -1,4 +1,4 @@
-#include "_ui.hpp"
+#include "../_ui.hpp"

 namespace ui{
    vector<Ui*> UiManager::managedUIs;
@ -13,6 +13,8 @@ namespace ui{
        moveWindow(u->myWindow,DEFAULT_UI_OFFSET_X+960,DEFAULT_UI_OFFSET_Y);
        resizeWindow(u->myWindow,DEFAULT_UI_SIZE_X,DEFAULT_UI_SIZE_Y);
        ui::UiDrawer::drawStartupSequence();
+        #else
+        ui::UiDrawer::drawStartupSequence();
        #endif
        while(!ui::UiManager::uiShouldRun){}
        while(ui::UiManager::uiShouldRun){
@ -53,18 +55,12 @@ namespace ui{
            Ui* newUI = new Ui();
            cout << "creating UI n°" << to_string(i) << endl;
            newUI->myWindow = "project- UI"+std::to_string(i);
-            #ifdef OGLWIN
-                DEBUG_LOG("created opengl window")
-                
-                //cv::setOpenGlContext(newUI->myWindow);
-                //setOpenGlDrawCallback(newUI->myWindow, on_opengl);
-            #else
+            #ifndef OGLWIN
                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);

            cout << "window: " << newUI->myWindow << " created at " << DEFAULT_UI_OFFSET_X+i*960 << " , " << DEFAULT_UI_OFFSET_Y << endl;

--- a/src/ui/drawer/uiDrawer.cpp
+++ b/src/ui/drawer/uiDrawer.cpp
@ -0,0 +1,84 @@
+#include "../_ui.hpp"
+UMat ui::UiDrawer::output;
+std::mutex ui::UiDrawer::outputLock;
+framerateChecker* ui::UiDrawer::fpsCounter = new framerateChecker();
+
+namespace ui{
+
+    void UiDrawer::drawStartupSequence(){
+        cout << "opening external ressources" << endl;
+        VideoCapture cap("./media/hud_startup.gif");
+        cout << "opened video"<< endl;
+        if(!cap.isOpened()){
+            cout << "failed to open hud start media" << endl;
+            return;
+        }
+        UMat frame;
+        UMat finished;
+        #ifdef OGLWIN
+        cv::ogl::Texture2D frameOGL = Texture2D();
+        #endif
+        while(cap.read(frame))
+        {
+            finished = UiSupport::makeMatStereo(frame);
+        #ifdef OGLWIN
+            frameOGL.copyFrom(finished);
+            cv::imshow(ui::UiManager::managedUIs.at(0)->myWindow, frameOGL);
+        #else
+            cv::imshow(ui::UiManager::managedUIs.at(0)->myWindow, finished);
+        #endif
+            if(waitKey(30) >= 0) break;
+        }
+        cap.release();
+    }
+
+    void UiDrawer::drawMenu(){
+        try{
+        fcheckManager::fcDrawMenu.tickBegin();
+        int& wd = UiController::menuSize.width;
+        int& he = UiController::menuSize.height;
+        unsigned int stackerIndex = 0;
+        UMat MenuMat(cv::Size(wd, he), CV_8UC3,Scalar(0,0,0));
+        cv::rectangle(MenuMat, cv::Rect2i(0,0,wd, he), Scalar(255,0,0), 5, 8, 0);
+        ui::UiController::update();
+        cv::putText(MenuMat, UiController::menuTitle, Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
+        for(std::map<std::string,std::function<void()>>::iterator iter = UiController::menuItems.begin(); iter != UiController::menuItems.end(); ++iter)
+        {
+        std::string str =  iter->first;
+        cv::putText(MenuMat, str, Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
+        }
+        int mFps,uiFps,Drawfps,camFPS = 0;
+        mFps = fcheckManager::fcMergeUI.fps;
+        uiFps = fcheckManager::fcDrawMenu.fps;
+        Drawfps = fcheckManager::fcShow.fps;
+        camFPS = fcheckManager::fcCam.fps;
+        cv::putText(MenuMat, cv::format("Eps Ui drawer: %d", uiFps), Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
+        cv::putText(MenuMat, cv::format("Eps Ui merger: %d", mFps), Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
+        cv::putText(MenuMat, cv::format("Eps imshow: %d", Drawfps), Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
+        cv::putText(MenuMat, cv::format("Eps Camera 0: %d", camFPS), Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
+        
+        cv::rectangle(MenuMat, cv::Rect2i(0,((20*ui::UiController::selectedIndex)+20)+5,wd, 20), Scalar(200,0,0), 3, 8, 0);
+        outputLock.lock();
+        output = MenuMat;
+        outputLock.unlock();
+        } catch(...){
+            cerr << "\033[1;31m caught DrawUi::drawMenu thread exception \033[0m" << endl;
+            exit(1);
+        }
+        fcheckManager::fcDrawMenu.tickUpdate();
+    }
+
+    void UiDrawer::runDrawMenu(){
+        try{
+        cout << "starting ui drawer thread" << endl;
+        ui::UiController::exitCalled = false;
+        while(true){
+            DEBUG_LOG("drawing");
+            ui::UiDrawer::drawMenu();
+        }
+        } catch(...){
+            cerr << "\033[1;31m caught DrawUi thread exception \033[0m" << endl;
+            exit(1);
+        }
+    }
+}
--- a/src/ui/merger/uiMerger.cpp
+++ b/src/ui/merger/uiMerger.cpp
@ -0,0 +1,60 @@
+#include "../_ui.hpp"
+
+UMat ui::UiMerger::output;
+std::mutex ui::UiMerger::outputLock;
+
+namespace ui
+{
+    void UiMerger::runMerge()
+    {
+        try
+        {
+            cout << "starting ui merger thread" << endl;
+            ui::UiController::exitCalled = false;
+            while (true)
+            {
+                DEBUG_LOG("drawing");
+                ui::UiMerger::mergeUI();
+            }
+        }
+        catch (...)
+        {
+            cerr << "\033[1;31m caught mergeUI thread exception \033[0m" << endl;
+            exit(1);
+        }
+    }
+
+    void UiMerger::mergeUI()
+    {
+        DEBUG_LOG("\nBegan new pipeline cycle-------------------------------")
+        fcheckManager::fcMergeUI.tickBegin();
+        UMat UiMat = UiSupport::prepareUiMat(); // prepare black background 960*1080
+        DEBUG_LOG("prepared UI mat")
+        cameraManager::accessLocks[0]->lock();         // lock the capture access
+        UMat cameraFrame = cameraManager::captures[0]; // retreive latest camera frame
+        cameraManager::accessLocks[0]->unlock();       // unlock capture access
+        DEBUG_LOG("retreived camera frame")
+        if (cameraFrame.rows <= 0 || cameraFrame.cols <= 0)
+            return;                                     // check for empty frame
+        cameraFrame = UiSupport::resizeIn(cameraFrame); // resize the frame to the standard format
+        DEBUG_LOG("resized camera frame")
+        // Copy the frame in the center of the background
+        cameraFrame.copyTo(UiMat(cv::Rect((UiMat.cols / 2) - (cameraFrame.cols / 2), (UiMat.rows / 2) - (cameraFrame.rows / 2), cameraFrame.cols, cameraFrame.rows)));
+        DEBUG_LOG("copied camera frame")
+        if (UiController::showMenu)
+        {
+            UiDrawer::outputLock.lock();
+            // UiMat = OverlayBlackMask(UiMat, OsMat, ui::UiController::menuPos.x,ui::UiController::menuPos.y);         //add the OS ui overlay
+            UiMat = UiSupport::OverlayBlackMask(UiMat, UiDrawer::output);
+            UiDrawer::outputLock.unlock();
+        }
+        DEBUG_LOG("drawn menu")
+        UMat finished = UiSupport::makeMatStereo(UiMat);
+        DEBUG_LOG("concated mats")
+
+        UiManager::accessLocks.at(0)->lock();
+        UiManager::managedUIs[0]->drawSurface = finished; // write the final image to the psvr UI buffer
+        UiManager::accessLocks.at(0)->unlock();
+        fcheckManager::fcMergeUI.tickUpdate();
+    }
+}
--- a/src/ui/support/UiSupport.cpp
+++ b/src/ui/support/UiSupport.cpp
@ -0,0 +1,45 @@
+#include "../_ui.hpp"
+
+namespace ui{
+
+    UMat UiSupport::makeMatStereo(UMat toStereo){
+        UMat toreturn;
+        vector<UMat> mats{toStereo,toStereo};
+        cv::hconcat(mats,toreturn);
+        return toreturn;
+    }
+
+    UMat UiSupport::prepareUiMat(){
+        return UMat(cv::Size(960, 1080), CV_8UC3,Scalar(0,0,0));
+    }
+
+    UMat UiSupport::resizeIn(UMat input){
+        UMat output;
+        resize(input, output, Size(960, 1080), InterpolationFlags::INTER_NEAREST);
+        return output;
+    }
+
+    ///if a non transparent picture is supplied (3 channels), it will be made transparent by using black as a mask
+    UMat UiSupport::OverlayBlackMask(UMat input, UMat toOverlay, int x, int y){
+        //return input;
+        if(input.cols < toOverlay.cols || input.rows < toOverlay.rows){
+            cerr << "Wrong size for inout file!!! overlay was bigger" << endl;
+        return input;
+        }
+
+        UMat toOverlayGRAY, mask;
+        vector<UMat> Bands;
+
+        if(toOverlay.channels() == 3){           //non transparent image, use black as mask
+            cvtColor(toOverlay,toOverlayGRAY, COLOR_BGR2GRAY);          //picture to greyscale
+            threshold(toOverlayGRAY, mask, 0, 255, THRESH_BINARY);      //greyscale to alpha (black or not)
+        } else if (toOverlay.channels() == 4){   //transparent, use alpha layer as mask
+            split(toOverlay,Bands);                                   // seperate channels
+            vector<UMat> channels{ Bands[0],Bands[1],Bands[2] };
+            merge(channels,toOverlay);                                       // glue together again
+            mask = Bands[3];                                         // png's alpha channel used as mask
+        }
+        toOverlay.copyTo(input(cv::Rect(x,y,toOverlay.cols, toOverlay.rows)),mask);
+        return input;
+    }
+}
--- a/src/ui/uiDrawer.cpp
+++ b/src/ui/uiDrawer.cpp
@ -1,182 +0,0 @@
-#include "_ui.hpp"
-UMat ui::UiDrawer::OverlayMat;
-UMat ui::UiDrawer::OsMat;   //drawn on certain events
-cv::ogl::Texture2D OvTexture;
-std::mutex ui::UiDrawer::OsMatLock;
-framerateChecker* ui::UiDrawer::fpsCounter = new framerateChecker();
-
-            //UiMat = prepareUiMat();
-            //surface.copyTo(UiMat(cv::Rect((UiMat.cols/2)-(surface.cols/2),(UiMat.rows/2)-(surface.rows/2),surface.cols, surface.rows)));
-            //UiMat = OverlayBlackMask(UiMat, overlay);
-
-namespace ui{
-    //draws the UI for the left screen of the psvr
-    void UiDrawer::drawUi(){
-                DEBUG_LOG("\nBegan new pipeline cycle-------------------------------")
-            fcheckManager::fcUI.tickBegin();
-            UMat UiMat = prepareUiMat();               //prepare black background 960*1080
-                DEBUG_LOG("prepared UI mat")
-            cameraManager::accessLocks[0]->lock();      //lock the capture access
-            UMat cameraFrame = cameraManager::captures[0];   //retreive latest camera frame
-            cameraManager::accessLocks[0]->unlock();    //unlock capture access
-                DEBUG_LOG("retreived camera frame")
-            if(cameraFrame.rows <= 0 || cameraFrame.cols <= 0) return;  //check for empty frame
-            cameraFrame = resizeIn(cameraFrame);                //resize the frame to the standard format
-                DEBUG_LOG("resized camera frame")
-            //Copy the frame in the center of the background
-            cameraFrame.copyTo(UiMat(cv::Rect((UiMat.cols/2)-(cameraFrame.cols/2),(UiMat.rows/2)-(cameraFrame.rows/2),cameraFrame.cols, cameraFrame.rows)));
-                DEBUG_LOG("copied camera frame")
-            UiMat = OverlayBlackMask(UiMat, OverlayMat);    //add the fixed overlay
-                DEBUG_LOG("overlayed camera frame")
-            if(UiController::showMenu){
-                UiDrawer::drawMenu();
-                OsMatLock.lock();
-                //UiMat = OverlayBlackMask(UiMat, OsMat, ui::UiController::menuPos.x,ui::UiController::menuPos.y);         //add the OS ui overlay
-                UiMat = OverlayBlackMask(UiMat, OsMat); 
-                OsMatLock.unlock();
-            }
-            DEBUG_LOG("drawn menu")
-            UMat finished(cv::Size(1920, 1080), CV_8UC3,Scalar(0,0,0));
-            vector<UMat> mats{UiMat,UiMat};
-            
-            cv::hconcat(mats,finished);
-            DEBUG_LOG("concated mats")
-
-            UiManager::accessLocks.at(0)->lock();
-            UiManager::managedUIs[0]->drawSurface = finished;  //write the final image to the psvr UI buffer
-            UiManager::accessLocks.at(0)->unlock();
-            fcheckManager::fcUI.tickUpdate();
-    }
-
-    void UiDrawer::drawStartupSequence(){
-        cout << "opening external ressources" << endl;
-        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()){
-            cout << "failed to open hud start media" << endl;
-            return;
-        }
-        UMat frame;
-        UMat finished;
-        #ifdef OGLWIN
-        cv::ogl::Texture2D frameOGL = Texture2D();
-        #endif
-        while(cap.read(frame))
-        {
-            frame = OverlayBlackMask(frame, overlay);
-            vector<UMat> mats{frame,frame};
-            cv::hconcat(mats,finished);
-#ifdef OGLWIN
-            frameOGL.copyFrom(finished);
-            cv::imshow(ui::UiManager::managedUIs.at(0)->myWindow, frameOGL);
-#else
-            cv::imshow(ui::UiManager::managedUIs.at(0)->myWindow, frame);
-#endif
-            if(waitKey(30) >= 0) break;
-        }
-        cap.release();
-    }
-
-    void UiDrawer::drawMenu(){
-        try{
-        int& wd = UiController::menuSize.width;
-        int& he = UiController::menuSize.height;
-        unsigned int stackerIndex = 0;
-        UMat MenuMat(cv::Size(wd, he), CV_8UC3,Scalar(0,0,0));
-        cv::rectangle(MenuMat, cv::Rect2i(0,0,wd, he), Scalar(255,0,0), 5, 8, 0);
-        ui::UiController::update();
-        cv::putText(MenuMat, UiController::menuTitle, Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
-        for(std::map<std::string,std::function<void()>>::iterator iter = UiController::menuItems.begin(); iter != UiController::menuItems.end(); ++iter)
-        {
-        std::string str =  iter->first;
-        cv::putText(MenuMat, str, Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
-        }
-        int uiFps,Drawfps,camFPS = 0;
-        uiFps = fcheckManager::fcUI.fps;
-        Drawfps = fcheckManager::fcShow.fps;
-        camFPS = fcheckManager::fcCam.fps;
-        cv::putText(MenuMat, cv::format("Eps Ui drawer: %d", uiFps), Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
-        cv::putText(MenuMat, cv::format("Eps imshow: %d", Drawfps), Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
-        cv::putText(MenuMat, cv::format("Eps Camera 0: %d", camFPS), Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
-        
-        cv::rectangle(MenuMat, cv::Rect2i(0,((20*ui::UiController::selectedIndex)+20)+5,wd, 20), Scalar(200,0,0), 3, 8, 0);
-        OsMatLock.lock();
-        OsMat = MenuMat;
-        OsMatLock.unlock();
-        } catch(...){
-            cerr << "\033[1;31m caught DrawUi::drawMenu thread exception \033[0m" << endl;
-            exit(1);
-        }
-    }
-
-    void UiDrawer::runDrawUi(){
-        try{
-        cout << "starting ui drawer thread" << endl;
-        ui::UiController::exitCalled = false;
-        while(true){
-            DEBUG_LOG("drawing");
-            ui::UiDrawer::drawUi();
-        }
-        } catch(...){
-            cerr << "\033[1;31m caught DrawUi thread exception \033[0m" << endl;
-            exit(1);
-        }
-    }
-
-    UMat UiDrawer::prepareUiMat(){
-        UMat blk960x1080(cv::Size(960, 1080), CV_8UC3,Scalar(0,0,0));
-        return blk960x1080;
-    }
-
-    UMat UiDrawer::resizeIn(UMat input){
-        UMat output;
-        resize(input, output, Size(960, 1080), InterpolationFlags::INTER_NEAREST);
-        return output;
-    }
-    ///if a non transparent picture is supplied (3 channels), it will be made transparent by using black as a mask
-    UMat UiDrawer::OverlayBlackMask(UMat input, UMat toOverlay, int x, int y){
-        //return input;
-        if(input.cols < toOverlay.cols || input.rows < toOverlay.rows){
-            cerr << "Wrong size for inout file!!! overlay was bigger" << endl;
-        return input;
-        }
-
-        UMat toOverlayGRAY, mask;
-        vector<UMat> Bands;
-
-        if(toOverlay.channels() == 3){           //non transparent image, use black as mask
-            cvtColor(toOverlay,toOverlayGRAY, COLOR_BGR2GRAY);          //picture to greyscale
-            threshold(toOverlayGRAY, mask, 0, 255, THRESH_BINARY);      //greyscale to alpha (black or not)
-        } else if (toOverlay.channels() == 4){   //transparent, use alpha layer as mask
-            split(toOverlay,Bands);                                   // seperate channels
-            vector<UMat> channels{ Bands[0],Bands[1],Bands[2] };
-            merge(channels,toOverlay);                                       // glue together again
-            mask = Bands[3];                                         // png's alpha channel used as mask
-        }
-        toOverlay.copyTo(input(cv::Rect(x,y,toOverlay.cols, toOverlay.rows)),mask);
-        return input;
-    }
-
-    UMat UiDrawer::OverlayHISHMask(UMat input, UMat toOverlay){
-        if(input.cols < toOverlay.cols || input.rows < toOverlay.rows) return input;
-
-        UMat toOverlayGRAY, mask;
-        vector<UMat> Bands;
-
-        if(toOverlay.channels() == 3){           //non transparent image, use black as mask
-            cvtColor(toOverlay,toOverlayGRAY, COLOR_BGR2GRAY);          //picture to greyscale
-            threshold(toOverlayGRAY, mask, 0, 255, THRESH_BINARY);      //greyscale to alpha (black or not)
-        } else if (toOverlay.channels() == 4){   //transparent, use alpha layer as mask
-            split(toOverlay,Bands);                                   // seperate channels
-            vector<UMat> channels{ Bands[0],Bands[1],Bands[2] };
-            merge(channels,toOverlay);                                       // glue together again
-            mask = Bands[3];                                         // png's alpha channel used as mask
-        }
-        toOverlay.copyTo(input(cv::Rect(0,0,toOverlay.cols, toOverlay.rows)),mask);
-        return input;
-    }
-}
--- a/src/ui/uiElements/old_CMakeLists.txt
+++ b/src/ui/uiElements/old_CMakeLists.txt
@ -1,16 +0,0 @@
-set(uiElements_source_files
-    uiElements.cpp
-    uiElements.hpp
-)
-MESSAGE(STATUS "building uiElements")
-add_library(uiElements ${uiElements_source_files})
-
-SET("OpenCV_DIR" "/usr/local/lib/")
-
-find_package( OpenCV REQUIRED )
-
-MESSAGE(STATUS "Include dirs ${OpenCV_INCLUDE_DIRS}")
-MESSAGE(STATUS "LINK LIBRARIES ${OpenCV_LIBS}")
-
-target_link_libraries(uiElements OpenCV)
-MESSAGE(STATUS "Done building uiElements")
--- a/src/ui/uiElements/ui.cpp
+++ b/src/ui/uiElements/ui.cpp
@ -1,4 +1,4 @@
-#include "_ui.hpp"
+#include "../_ui.hpp"

 void ui::Ui::draw(){
   try{
@ -9,13 +9,7 @@ void ui::Ui::draw(){
      UiManager::accessLocks.at(this->id)->unlock();
      return;
   }
-   #ifdef OGLWIN
-      DEBUG_LOG("Assigning opengl buffer")
-      UMat drawBuffer = drawSurface;   //required copy?
-      DEBUG_LOG("Done assigning opengl buffer")
-   #else
-      UMat drawBuffer = drawSurface;
-   #endif
+   UMat drawBuffer = drawSurface;
   UiManager::accessLocks.at(this->id)->unlock();
   DEBUG_LOG("Buffer retreived")
   #ifdef OGLWIN
--- a/src/ui/uiElements/uiElements.hpp
+++ b/src/ui/uiElements/uiElements.hpp
@ -5,38 +5,8 @@

 using namespace cv;

-//base UI element class (abstract)
-struct UiElement{
-    unsigned int xPosPixels;
-    unsigned int yPosPixels;
-    void drawSelf(UMat &input);
-};
-//sized ui element  (abstract)
-struct SizedUiElement : UiElement{
-    unsigned int widthPixels;
-    unsigned int heightPixels;
-    void drawSelf(UMat &input);
-};
-
-struct UiRect : SizedUiElement{
-    unsigned int borderColor;
-    unsigned int fillingColor;
-    void drawSelf(UMat &input);
-};
-
-struct UiText : UiElement{
-    std::string text;
-    unsigned int fontSize;
-    cv::Scalar textColor;
-    cv::HersheyFonts font = HersheyFonts::FONT_HERSHEY_SIMPLEX;
-    unsigned int thickness;
-    unsigned int lineType = 0;
-    bool leftOrigin = false;
-    void drawSelf(cv::UMat &input){
-    putText(input, UiText::text, Point(xPosPixels,yPosPixels), cv::FONT_HERSHEY_DUPLEX, fontSize, textColor, thickness, lineType, leftOrigin);
-    }
-};
-//menu item container
-struct UiMenuItem{
-    std::vector<UiElement> elements;
+class Widget{
+    public:
+    int x,y,width,height = 0;
+    UMat output;
 };