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+  /usr/include/c++/11/bits/refwrap.h \
+  /usr/include/c++/11/bits/unique_ptr.h \
+  /usr/include/c++/11/ext/aligned_buffer.h \
+  /usr/include/c++/11/ext/concurrence.h \
+  /usr/include/c++/11/atomic \
+  /usr/include/c++/11/bits/atomic_base.h \
+  /usr/include/c++/11/bits/atomic_lockfree_defines.h \
+  /usr/include/c++/11/bits/atomic_futex.h \
+  /usr/include/c++/11/bits/std_function.h \
+  /usr/include/c++/11/bits/std_thread.h \
+  hw/serial.hpp \
+  /usr/include/fcntl.h \
+  /usr/include/x86_64-linux-gnu/bits/fcntl.h \
+  /usr/include/x86_64-linux-gnu/bits/fcntl-linux.h \
+  /usr/include/x86_64-linux-gnu/bits/types/struct_iovec.h \
+  /usr/include/linux/falloc.h \
+  /usr/include/x86_64-linux-gnu/bits/stat.h \
+  /usr/include/x86_64-linux-gnu/bits/struct_stat.h \
+  /usr/include/termios.h \
+  /usr/include/x86_64-linux-gnu/bits/termios.h \
+  /usr/include/x86_64-linux-gnu/bits/termios-struct.h \
+  /usr/include/x86_64-linux-gnu/bits/termios-c_cc.h \
+  /usr/include/x86_64-linux-gnu/bits/termios-c_iflag.h \
+  /usr/include/x86_64-linux-gnu/bits/termios-c_oflag.h \
+  /usr/include/x86_64-linux-gnu/bits/termios-baud.h \
+  /usr/include/x86_64-linux-gnu/bits/termios-c_cflag.h \
+  /usr/include/x86_64-linux-gnu/bits/termios-c_lflag.h \
+  /usr/include/x86_64-linux-gnu/bits/termios-tcflow.h \
+  /usr/include/x86_64-linux-gnu/bits/termios-misc.h \
+  /usr/include/x86_64-linux-gnu/sys/ttydefaults.h \
+  /usr/include/c++/11/thread \
+  /usr/include/c++/11/bits/this_thread_sleep.h \
+  /usr/include/c++/11/vector \
+  /usr/include/c++/11/bits/stl_uninitialized.h \
+  /usr/include/c++/11/bits/stl_vector.h \
+  /usr/include/c++/11/bits/stl_bvector.h \
+  /usr/include/c++/11/bits/vector.tcc \
+  ui/_ui.hpp \
+  /usr/include/c++/11/map \
+  /usr/include/c++/11/bits/stl_tree.h \
+  /usr/include/c++/11/bits/node_handle.h \
+  /usr/include/c++/11/bits/stl_map.h \
+  /usr/include/c++/11/bits/stl_multimap.h \
+  /usr/include/c++/11/bits/erase_if.h \
+  /usr/include/c++/11/functional \
+  /usr/include/c++/11/unordered_map \
+  /usr/include/c++/11/bits/hashtable.h \
+  /usr/include/c++/11/bits/hashtable_policy.h \
+  /usr/include/c++/11/bits/enable_special_members.h \
+  /usr/include/c++/11/bits/unordered_map.h \
+  /usr/include/c++/11/bits/stl_algo.h \
+  /usr/include/c++/11/bits/algorithmfwd.h \
+  /usr/include/c++/11/bits/stl_heap.h \
+  /usr/include/c++/11/bits/stl_tempbuf.h \
+  /usr/include/c++/11/bits/uniform_int_dist.h \
+  /usr/include/GL/glut.h \
+  /usr/include/GL/freeglut_std.h \
+  /usr/include/GL/gl.h \
+  /usr/include/GL/glext.h \
+  /usr/include/KHR/khrplatform.h \
+  /usr/include/GL/glu.h \
+  cameras/_cam.hpp \
+  /usr/include/c++/11/memory \
+  /usr/include/c++/11/bits/stl_raw_storage_iter.h \
+  /usr/include/c++/11/bits/align.h \
+  /usr/include/c++/11/bit \
+  /usr/include/c++/11/bits/shared_ptr_atomic.h \
+  /usr/include/c++/11/backward/auto_ptr.h \
+  /usr/include/c++/11/pstl/glue_memory_defs.h \
+  /usr/include/c++/11/pstl/execution_defs.h \
+  /usr/include/c++/11/sstream \
+  /usr/include/c++/11/bits/sstream.tcc \
+  /usr/include/c++/11/regex \
+  /usr/include/c++/11/algorithm \
+  /usr/include/c++/11/pstl/glue_algorithm_defs.h \
+  /usr/include/c++/11/bitset \
+  /usr/include/c++/11/iterator \
+  /usr/include/c++/11/bits/stream_iterator.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 \
+  /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/stack \
+  /usr/include/c++/11/deque \
+  /usr/include/c++/11/bits/stl_deque.h \
+  /usr/include/c++/11/bits/deque.tcc \
+  /usr/include/c++/11/bits/stl_stack.h \
+  /usr/include/c++/11/cstring \
+  /usr/include/c++/11/bits/regex_constants.h \
+  /usr/include/c++/11/bits/regex_error.h \
+  /usr/include/c++/11/bits/regex_automaton.h \
+  /usr/include/c++/11/bits/regex_automaton.tcc \
+  /usr/include/c++/11/bits/regex_scanner.h \
+  /usr/include/c++/11/bits/regex_scanner.tcc \
+  /usr/include/c++/11/bits/regex_compiler.h \
+  /usr/include/c++/11/bits/regex_compiler.tcc \
+  /usr/include/c++/11/bits/regex.h \
+  /usr/include/c++/11/bits/regex.tcc \
+  /usr/include/c++/11/bits/regex_executor.h \
+  /usr/include/c++/11/bits/regex_executor.tcc \
+  /usr/include/c++/11/execution \
+  /usr/include/c++/11/pstl/glue_execution_defs.h \
+  /usr/include/c++/11/pstl/algorithm_impl.h \
+  /usr/include/c++/11/pstl/execution_impl.h \
+  /usr/include/c++/11/pstl/memory_impl.h \
+  /usr/include/c++/11/pstl/unseq_backend_simd.h \
+  /usr/include/c++/11/pstl/utils.h \
+  /usr/include/c++/11/pstl/parallel_backend_utils.h \
+  /usr/include/c++/11/pstl/parallel_backend.h \
+  /usr/include/c++/11/pstl/parallel_backend_tbb.h \
+  /usr/include/tbb/blocked_range.h \
+  /usr/include/oneapi/tbb/blocked_range.h \
+  /usr/include/c++/11/cstddef \
+  /usr/include/oneapi/tbb/detail/_range_common.h \
+  /usr/include/oneapi/tbb/detail/_config.h \
+  /usr/include/oneapi/tbb/detail/_export.h \
+  /usr/include/oneapi/tbb/detail/_utils.h \
+  /usr/include/oneapi/tbb/detail/_assert.h \
+  /usr/include/oneapi/tbb/detail/_machine.h \
+  /usr/include/c++/11/climits \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/limits.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/syslimits.h \
+  /usr/include/limits.h \
+  /usr/include/x86_64-linux-gnu/bits/posix1_lim.h \
+  /usr/include/x86_64-linux-gnu/bits/local_lim.h \
+  /usr/include/linux/limits.h \
+  /usr/include/x86_64-linux-gnu/bits/posix2_lim.h \
+  /usr/include/x86_64-linux-gnu/bits/xopen_lim.h \
+  /usr/include/x86_64-linux-gnu/bits/uio_lim.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/immintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/x86gprintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/ia32intrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/adxintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/bmiintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/bmi2intrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/cetintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/cldemoteintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/clflushoptintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/clwbintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/clzerointrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/enqcmdintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/fxsrintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/lzcntintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/lwpintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/movdirintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/mwaitintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/mwaitxintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/pconfigintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/popcntintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/pkuintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/rdseedintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/rtmintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/serializeintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/sgxintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/tbmintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/tsxldtrkintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/uintrintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/waitpkgintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/wbnoinvdintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/xsaveintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/xsavecintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/xsaveoptintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/xsavesintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/xtestintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/hresetintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/mmintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/xmmintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/mm_malloc.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/emmintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/pmmintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/tmmintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/smmintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/wmmintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avxintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avxvnniintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx2intrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512fintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512erintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512pfintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512cdintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vlintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512bwintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512dqintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vlbwintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vldqintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512ifmaintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512ifmavlintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vbmiintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vbmivlintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx5124fmapsintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx5124vnniwintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vpopcntdqintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vbmi2intrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vbmi2vlintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vnniintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vnnivlintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vpopcntdqvlintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512bitalgintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vp2intersectintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vp2intersectvlintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/shaintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/fmaintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/f16cintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/gfniintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/vaesintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/vpclmulqdqintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512bf16vlintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512bf16intrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/amxtileintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/amxint8intrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/amxbf16intrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/prfchwintrin.h \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/keylockerintrin.h \
+  /usr/include/oneapi/tbb/detail/_namespace_injection.h \
+  /usr/include/oneapi/tbb/version.h \
+  /usr/include/oneapi/tbb/detail/_config.h \
+  /usr/include/tbb/parallel_for.h \
+  /usr/include/oneapi/tbb/parallel_for.h \
+  /usr/include/oneapi/tbb/detail/_exception.h \
+  /usr/include/oneapi/tbb/detail/_task.h \
+  /usr/include/oneapi/tbb/detail/_template_helpers.h \
+  /usr/include/oneapi/tbb/detail/_small_object_pool.h \
+  /usr/include/oneapi/tbb/profiling.h \
+  /usr/include/oneapi/tbb/detail/_string_resource.h \
+  /usr/include/oneapi/tbb/detail/_small_object_pool.h \
+  /usr/include/oneapi/tbb/profiling.h \
+  /usr/include/oneapi/tbb/partitioner.h \
+  /usr/include/oneapi/tbb/detail/_aligned_space.h \
+  /usr/include/oneapi/tbb/detail/_utils.h \
+  /usr/include/oneapi/tbb/detail/_template_helpers.h \
+  /usr/include/oneapi/tbb/cache_aligned_allocator.h \
+  /usr/include/c++/11/memory_resource \
+  /usr/include/c++/11/shared_mutex \
+  /usr/include/c++/11/bits/uses_allocator_args.h \
+  /usr/include/oneapi/tbb/task_group.h \
+  /usr/include/oneapi/tbb/detail/_assert.h \
+  /usr/include/oneapi/tbb/detail/_intrusive_list_node.h \
+  /usr/include/oneapi/tbb/task_arena.h \
+  /usr/include/oneapi/tbb/info.h \
+  /usr/include/oneapi/tbb/blocked_range.h \
+  /usr/include/tbb/parallel_reduce.h \
+  /usr/include/oneapi/tbb/parallel_reduce.h \
+  /usr/include/tbb/parallel_scan.h \
+  /usr/include/oneapi/tbb/parallel_scan.h \
+  /usr/include/tbb/parallel_invoke.h \
+  /usr/include/oneapi/tbb/parallel_invoke.h \
+  /usr/include/tbb/task_arena.h \
+  /usr/include/oneapi/tbb/task_arena.h \
+  /usr/include/tbb/tbb_allocator.h \
+  /usr/include/oneapi/tbb/tbb_allocator.h \
+  /usr/include/oneapi/tbb/detail/_utils.h \
+  /usr/include/tbb/task.h \
+  /usr/include/oneapi/tbb/task.h \
+  /usr/include/c++/11/pstl/parallel_impl.h \
+  /usr/include/c++/11/pstl/numeric_impl.h \
+  /usr/include/c++/11/numeric \
+  /usr/include/c++/11/bits/stl_numeric.h \
+  /usr/include/c++/11/pstl/glue_numeric_defs.h \
+  /usr/include/c++/11/pstl/pstl_config.h \
+  /usr/include/c++/11/pstl/algorithm_fwd.h \
+  /usr/include/c++/11/pstl/glue_algorithm_impl.h \
+  /usr/include/c++/11/pstl/numeric_fwd.h \
+  /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/opencv_modules.hpp \
+  /usr/local/include/opencv4/opencv2/core.hpp \
+  /usr/local/include/opencv4/opencv2/core/cvdef.h \
+  /usr/local/include/opencv4/opencv2/core/version.hpp \
+  /usr/local/include/opencv4/opencv2/core/hal/interface.h \
+  /usr/local/include/opencv4/opencv2/core/cv_cpu_dispatch.h \
+  /usr/local/include/opencv4/opencv2/core/base.hpp \
+  /usr/local/include/opencv4/opencv2/core/cvstd.hpp \
+  /usr/include/c++/11/cmath \
+  /usr/include/math.h \
+  /usr/include/x86_64-linux-gnu/bits/math-vector.h \
+  /usr/include/x86_64-linux-gnu/bits/libm-simd-decl-stubs.h \
+  /usr/include/x86_64-linux-gnu/bits/flt-eval-method.h \
+  /usr/include/x86_64-linux-gnu/bits/fp-logb.h \
+  /usr/include/x86_64-linux-gnu/bits/fp-fast.h \
+  /usr/include/x86_64-linux-gnu/bits/mathcalls-helper-functions.h \
+  /usr/include/x86_64-linux-gnu/bits/mathcalls.h \
+  /usr/include/x86_64-linux-gnu/bits/mathcalls-narrow.h \
+  /usr/include/x86_64-linux-gnu/bits/iscanonical.h \
+  /usr/include/c++/11/bits/specfun.h \
+  /usr/include/c++/11/tr1/gamma.tcc \
+  /usr/include/c++/11/tr1/special_function_util.h \
+  /usr/include/c++/11/tr1/bessel_function.tcc \
+  /usr/include/c++/11/tr1/beta_function.tcc \
+  /usr/include/c++/11/tr1/ell_integral.tcc \
+  /usr/include/c++/11/tr1/exp_integral.tcc \
+  /usr/include/c++/11/tr1/hypergeometric.tcc \
+  /usr/include/c++/11/tr1/legendre_function.tcc \
+  /usr/include/c++/11/tr1/modified_bessel_func.tcc \
+  /usr/include/c++/11/tr1/poly_hermite.tcc \
+  /usr/include/c++/11/tr1/poly_laguerre.tcc \
+  /usr/include/c++/11/tr1/riemann_zeta.tcc \
+  /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp \
+  /usr/local/include/opencv4/opencv2/core/neon_utils.hpp \
+  /usr/local/include/opencv4/opencv2/core/vsx_utils.hpp \
+  /usr/include/assert.h \
+  /usr/local/include/opencv4/opencv2/core/check.hpp \
+  /usr/local/include/opencv4/opencv2/core/traits.hpp \
+  /usr/local/include/opencv4/opencv2/core/matx.hpp \
+  /usr/local/include/opencv4/opencv2/core/saturate.hpp \
+  /usr/local/include/opencv4/opencv2/core/fast_math.hpp \
+  /usr/local/include/opencv4/opencv2/core/types.hpp \
+  /usr/include/c++/11/cfloat \
+  /usr/lib/gcc/x86_64-linux-gnu/11/include/float.h \
+  /usr/local/include/opencv4/opencv2/core/mat.hpp \
+  /usr/local/include/opencv4/opencv2/core/bufferpool.hpp \
+  /usr/local/include/opencv4/opencv2/core/mat.inl.hpp \
+  /usr/local/include/opencv4/opencv2/core/persistence.hpp \
+  /usr/local/include/opencv4/opencv2/core/operations.hpp \
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@@ -1420,6 +2058,36 @@ perfcheckers/framerate.hpp:
 
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@@ -1 +1 @@
-/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 
diff --git a/src/CMakeFiles/prog.dir/progress.make b/src/CMakeFiles/prog.dir/progress.make
index 596289c..ce3e115 100644
--- 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
 
diff --git a/src/CMakeFiles/progress.marks b/src/CMakeFiles/progress.marks
index 2bd5a0a..7273c0f 100644
--- a/src/CMakeFiles/progress.marks
+++ b/src/CMakeFiles/progress.marks
@@ -1 +1 @@
-22
+25
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index abea87c..94a234c 100644
--- 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})
 
diff --git a/src/Makefile b/src/Makefile
index 2ba0a34..ffffcfb 100644
--- 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
 
 
diff --git a/src/cameras/CMakeLists.txt b/src/cameras/CMakeLists.txt
index c81ec01..2dcac43 100644
--- 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")
\ No newline at end of file
diff --git a/src/cameras/_cam.hpp b/src/cameras/_cam.hpp
index f1a0cf3..4aceece 100644
--- 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();
diff --git a/src/hw/CMakeFiles/progress.marks b/src/hw/CMakeFiles/progress.marks
index 209e3ef..2bd5a0a 100644
--- a/src/hw/CMakeFiles/progress.marks
+++ b/src/hw/CMakeFiles/progress.marks
@@ -1 +1 @@
-20
+22
diff --git a/src/hw/serial.cpp b/src/hw/serial.cpp
index 1e01b11..51c7a06 100644
--- 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;
 }
diff --git a/src/main.cpp b/src/main.cpp
index 785ac4e..df593a7 100644
--- 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;
 }
\ No newline at end of file
diff --git a/src/main.hpp b/src/main.hpp
index bae3c94..fc2489a 100644
--- 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"
\ No newline at end of file
+#include "./hw/serial.hpp"
+
+class topLevelManager{
+    public:
+    void init();
+    private:
+    void detectHWAndConfig();
+    void setupThreads();
+};
\ No newline at end of file
diff --git a/src/perfcheckers/fcheckManager.cpp b/src/perfcheckers/fcheckManager.cpp
index 40d5876..ec2e398 100644
--- 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;
\ No newline at end of file
+framerateChecker fcheckManager::fcCam;
+framerateChecker fcheckManager::fcMergeUI;
\ No newline at end of file
diff --git a/src/perfcheckers/framerate.hpp b/src/perfcheckers/framerate.hpp
index a4423e0..8159b6a 100644
--- 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;
 };
\ No newline at end of file
diff --git a/src/prog b/src/prog
index 5eecee5..e55dd9f 100755
Binary files a/src/prog and b/src/prog differ
diff --git a/src/psvr/CMakeFiles/psvr.dir/progress.make b/src/psvr/CMakeFiles/psvr.dir/progress.make
index d92f75a..8063b3b 100644
--- 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
 
diff --git a/src/threadweaver/CMakeFiles/progress.marks b/src/threadweaver/CMakeFiles/progress.marks
index 0cfbf08..7ed6ff8 100644
--- a/src/threadweaver/CMakeFiles/progress.marks
+++ b/src/threadweaver/CMakeFiles/progress.marks
@@ -1 +1 @@
-2
+5
diff --git a/src/threadweaver/CMakeFiles/threadweaver.dir/DependInfo.cmake b/src/threadweaver/CMakeFiles/threadweaver.dir/DependInfo.cmake
index a616f7f..2ac24b5 100644
--- 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.
diff --git a/src/threadweaver/CMakeFiles/threadweaver.dir/compiler_depend.internal b/src/threadweaver/CMakeFiles/threadweaver.dir/compiler_depend.internal
index 0863835..c3a5e6a 100644
--- 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
 
diff --git a/src/threadweaver/CMakeFiles/threadweaver.dir/compiler_depend.make b/src/threadweaver/CMakeFiles/threadweaver.dir/compiler_depend.make
index 9015db8..791c806 100644
--- 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:
diff --git a/src/threadweaver/CMakeFiles/threadweaver.dir/progress.make b/src/threadweaver/CMakeFiles/threadweaver.dir/progress.make
index a35c33b..d7d1be2 100644
--- 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
 
diff --git a/src/threadweaver/CMakeLists.txt b/src/threadweaver/CMakeLists.txt
index d15a8dc..581688c 100644
--- 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")
\ No newline at end of file
diff --git a/src/threadweaver/debugging.hpp b/src/threadweaver/debugging.hpp
index c2bcef8..48c6877 100644
--- 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;
diff --git a/src/threadweaver/threadweaver.cpp b/src/threadweaver/threadweaver.cpp
index 0977033..b7543a2 100644
--- 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();
diff --git a/src/threadweaver/threadweaver.hpp b/src/threadweaver/threadweaver.hpp
index b698ed5..9ff16f8 100644
--- 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);
diff --git a/src/topLevelManager.cpp b/src/topLevelManager.cpp
new file mode 100644
index 0000000..974e6de
--- /dev/null
+++ 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;
+}
\ No newline at end of file
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+  "/home/kanken/code/AHRS_core/src/ui/controllers/uiController.cpp" "ui/CMakeFiles/ui.dir/controllers/uiController.cpp.o" "gcc" "ui/CMakeFiles/ui.dir/controllers/uiController.cpp.o.d"
+  "/home/kanken/code/AHRS_core/src/ui/controllers/uiManager.cpp" "ui/CMakeFiles/ui.dir/controllers/uiManager.cpp.o" "gcc" "ui/CMakeFiles/ui.dir/controllers/uiManager.cpp.o.d"
+  "/home/kanken/code/AHRS_core/src/ui/drawer/uiDrawer.cpp" "ui/CMakeFiles/ui.dir/drawer/uiDrawer.cpp.o" "gcc" "ui/CMakeFiles/ui.dir/drawer/uiDrawer.cpp.o.d"
+  "/home/kanken/code/AHRS_core/src/ui/merger/uiMerger.cpp" "ui/CMakeFiles/ui.dir/merger/uiMerger.cpp.o" "gcc" "ui/CMakeFiles/ui.dir/merger/uiMerger.cpp.o.d"
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+  "/home/kanken/code/AHRS_core/src/ui/uiElements/ui.cpp" "ui/CMakeFiles/ui.dir/uiElements/ui.cpp.o" "gcc" "ui/CMakeFiles/ui.dir/uiElements/ui.cpp.o.d"
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+  /usr/local/include/opencv4/opencv2/stitching/detail/camera.hpp \
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+
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+
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+
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@@ -3624,6 +4866,8 @@ perfcheckers/framerate.hpp:
 
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+/usr/lib/gcc/x86_64-linux-gnu/11/include/fxsrintrin.h:
+
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diff --git a/src/ui/CMakeLists.txt b/src/ui/CMakeLists.txt
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+    ./uiElements/ui.cpp
+    ./drawer/uiDrawer.cpp
+    ./merger/uiMerger.cpp
+    ./controllers/uiController.cpp
+    ./controllers/uiManager.cpp
     _ui.hpp
 )
 MESSAGE(STATUS "building ui")
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+# 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
 
 uiElements/uiElements.o: uiElements/uiElements.cpp.o
 .PHONY : uiElements/uiElements.o
@@ -226,30 +298,6 @@ uiElements/uiElements.cpp.s:
 	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f ui/CMakeFiles/ui.dir/build.make ui/CMakeFiles/ui.dir/uiElements/uiElements.cpp.s
 .PHONY : uiElements/uiElements.cpp.s
 
-uiManager.o: uiManager.cpp.o
-.PHONY : uiManager.o
-
-# target to build an object file
-uiManager.cpp.o:
-	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f ui/CMakeFiles/ui.dir/build.make ui/CMakeFiles/ui.dir/uiManager.cpp.o
-.PHONY : uiManager.cpp.o
-
-uiManager.i: uiManager.cpp.i
-.PHONY : uiManager.i
-
-# target to preprocess a source file
-uiManager.cpp.i:
-	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f ui/CMakeFiles/ui.dir/build.make ui/CMakeFiles/ui.dir/uiManager.cpp.i
-.PHONY : uiManager.cpp.i
-
-uiManager.s: uiManager.cpp.s
-.PHONY : uiManager.s
-
-# target to generate assembly for a file
-uiManager.cpp.s:
-	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f ui/CMakeFiles/ui.dir/build.make ui/CMakeFiles/ui.dir/uiManager.cpp.s
-.PHONY : uiManager.cpp.s
-
 # Help Target
 help:
 	@echo "The following are some of the valid targets for this Makefile:"
@@ -259,21 +307,27 @@ help:
 	@echo "... edit_cache"
 	@echo "... rebuild_cache"
 	@echo "... ui"
-	@echo "... ui.o"
-	@echo "... ui.i"
-	@echo "... ui.s"
-	@echo "... uiController.o"
-	@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"
 	@echo "... uiElements/uiElements.i"
 	@echo "... uiElements/uiElements.s"
-	@echo "... uiManager.o"
-	@echo "... uiManager.i"
-	@echo "... uiManager.s"
 .PHONY : help
 
 
diff --git a/src/ui/_ui.hpp b/src/ui/_ui.hpp
index b32590d..8538f5a 100644
--- 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();
diff --git a/src/ui/uiController.cpp b/src/ui/controllers/uiController.cpp
similarity index 94%
rename from src/ui/uiController.cpp
rename to src/ui/controllers/uiController.cpp
index a17c5e0..c483948 100644
--- a/src/ui/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(){
diff --git a/src/ui/uiManager.cpp b/src/ui/controllers/uiManager.cpp
similarity index 89%
rename from src/ui/uiManager.cpp
rename to src/ui/controllers/uiManager.cpp
index 9e64cbb..c66f74d 100644
--- a/src/ui/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;
 
diff --git a/src/ui/drawer/uiDrawer.cpp b/src/ui/drawer/uiDrawer.cpp
new file mode 100644
index 0000000..1d4487c
--- /dev/null
+++ 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);
+        }
+    }
+}
diff --git a/src/ui/merger/uiMerger.cpp b/src/ui/merger/uiMerger.cpp
new file mode 100644
index 0000000..e0b5a25
--- /dev/null
+++ 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();
+    }
+}
\ No newline at end of file
diff --git a/src/ui/support/UiSupport.cpp b/src/ui/support/UiSupport.cpp
new file mode 100644
index 0000000..1fcfd3e
--- /dev/null
+++ 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;
+    }
+}
\ No newline at end of file
diff --git a/src/ui/uiDrawer.cpp b/src/ui/uiDrawer.cpp
deleted file mode 100644
index 704b3ab..0000000
--- a/src/ui/uiDrawer.cpp
+++ /dev/null
@@ -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;
-    }
-}
diff --git a/src/ui/uiElements/old_CMakeLists.txt b/src/ui/uiElements/old_CMakeLists.txt
deleted file mode 100644
index 3a70e5a..0000000
--- a/src/ui/uiElements/old_CMakeLists.txt
+++ /dev/null
@@ -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")
\ No newline at end of file
diff --git a/src/ui/ui.cpp b/src/ui/uiElements/ui.cpp
similarity index 75%
rename from src/ui/ui.cpp
rename to src/ui/uiElements/ui.cpp
index 51c4604..e945c0e 100644
--- a/src/ui/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
diff --git a/src/ui/uiElements/uiElements.hpp b/src/ui/uiElements/uiElements.hpp
index 10cb0bf..6a9b2d5 100644
--- 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;
 };
\ No newline at end of file