diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1a77616..d81aed6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.12)
-project(msckf)
+project(msckf_vio)
 
 add_compile_options(-std=c++11)
 
diff --git a/src/msckf_vio.cpp b/src/msckf_vio.cpp
index c045040..bff5d38 100644
--- a/src/msckf_vio.cpp
+++ b/src/msckf_vio.cpp
@@ -259,7 +259,6 @@ void MsckfVio::imageCallback (
     const sensor_msgs::ImageConstPtr& cam1_img,
     const CameraMeasurementConstPtr& feature_msg)
 {
-  ROS_INFO("In Callback");
 
   // Return if the gravity vector has not been set.
   if (!is_gravity_set) return;
@@ -357,9 +356,11 @@ void MsckfVio::manageMovingWindow(
     const cv_bridge::CvImageConstPtr& cam1_image_ptr,
     const CameraMeasurementConstPtr& feature_msg) {
 
-  cam0_moving_window[state_server.imu_state.id] = cam0_image_ptr->image;
-  cam1_moving_window[state_server.imu_state.id] = cam1_image_ptr->image;
+  cam0_moving_window[state_server.imu_state.id] = cam0_image_ptr->image.clone();
+  cam1_moving_window[state_server.imu_state.id] = cam1_image_ptr->image.clone();
+  std::cout << cam0_moving_window.begin()->second << std::endl;
 
+  //TODO handle massive overflow correctly (should be pruned, before this ever triggers)
   while(cam0_moving_window.size() > 100)
   {
     cam1_moving_window.erase(cam1_moving_window.begin());