diff --git a/inc/util.hpp b/inc/util.hpp
index 82ee7ae..fc7eb23 100644
--- a/inc/util.hpp
+++ b/inc/util.hpp
@@ -18,7 +18,7 @@ template<class T> struct array {
 template<class T> void append(array<T>& a, T el);
 template<class T> T pop(array<T>& a);
 template<class T> void resize(array<T>& a, size_t new_cap);
-template<class T> void free(array<T>& a);
+template<class T> void clear(array<T>& a);
 bool read_file(array<char>* out, const char* filepath);
 array<char*> split_str(const char *s, char delimiter);
 array<char*> split_str(const char *s);
diff --git a/src/body.cpp b/src/body.cpp
index 7186ba1..ad3fb2d 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -81,6 +81,9 @@ bool load_body(body* out_body, const char* obj_filepath) {
     }
 
     uint vao, vbo, ebo;
+    vao = 0;
+    vbo = 0;
+    ebo = 0;
 
     glGenVertexArrays(1, &vao);
     glGenBuffers(1, &vbo);
diff --git a/src/main.cpp b/src/main.cpp
index 03cb685..a4e347f 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -30,18 +30,16 @@ void process_input() {
 }
 
 static uint shader;
-body create_new_sphere() {
-    body b;
-    assert(load_body(&b, "Icosphere.obj"));
-    b.shader = shader;
-    b.pose = glm::translate(b.pose, glm::vec3(0, 0, 0));
-    return b;
+void create_new_sphere(body* b) {
+    assert(load_body(b, "Icosphere.obj"));
+    b->shader = shader;
+    b->pose = glm::translate(b->pose, glm::vec3(0, 0, 0));
 }
 
 static bool stop = false;
 static pthread_mutex_t lock = PTHREAD_MUTEX_INITIALIZER;
 const float max_hp = 10; // Number of scans (without a particular barcode) for which the sphere will still be visible
-std::vector<std::tuple<char*, body, float>> camera_bodies; // I would use my array here, but was getting a linking error
+static std::vector<std::tuple<char*, body*, float>> camera_bodies; // I would use my array here, but was getting a linking error
 
 void *process_cin(void* args) { 
     std::string line;
@@ -50,31 +48,28 @@ void *process_cin(void* args) {
         array<char*> words = split_str(line.c_str());
         assert(words.len == 4);
         printf("Received: %s, %s, %s, %s\n", words[0], words[1], words[2], words[3]);  // echo for debugging
-        pthread_mutex_lock(&lock);
         float x = atof(words[1]);
         float y = atof(words[2]);
         float z = atof(words[3]);
         glm::vec3 new_loc = glm::vec3(x, y, z);
         bool found_match = false;
+        pthread_mutex_lock(&lock);
         for (int i = 0; i < camera_bodies.size(); i++) {
-            if (strcmp(words[0], std::get<0>(camera_bodies[i])) == 0) {
-              glm::vec4 &transl = std::get<1>(camera_bodies[i]).pose[4];
+            if (strcmp(words[0], std::get<0>(camera_bodies[i])) == 0 && std::get<1>(camera_bodies[i])) {
+                glm::vec4 &transl = std::get<1>(camera_bodies[i])->pose[3];
                 transl = 0.9f*transl + 0.1f*glm::vec4(new_loc, 1); // filter
 
-                std::get<1>(camera_bodies[i]).color = glm::vec4(i&0x4, i&0x2, i&0x1, 1);
+                std::get<1>(camera_bodies[i])->color = glm::vec4(i&0x4, i&0x2, i&0x1, 1);
                 std::get<2>(camera_bodies[i]) = max_hp;
                 found_match = true;
-            } else {
+            } else if (std::get<1>(camera_bodies[i])) {
                 float &cur_hp = std::get<2>(camera_bodies[i]);
                 if (cur_hp > 0) cur_hp -= 1;
-                std::get<1>(camera_bodies[i]).color = glm::vec4(i&0x4, i&0x2, i&0x1, cur_hp/max_hp);
+                std::get<1>(camera_bodies[i])->color = glm::vec4(i&0x4, i&0x2, i&0x1, cur_hp/max_hp);
             }
         }
         if (!found_match) {
-            body b = create_new_sphere();
-            int i = camera_bodies.size();
-            b.color = glm::vec4(i&0x4, i&0x2, i&0x1, max_hp);
-            auto t = std::make_tuple(words[0], b, max_hp); 
+            auto t = std::make_tuple(words[0], (body*)NULL, max_hp); 
             camera_bodies.push_back(t);
         }
         pthread_mutex_unlock(&lock);
@@ -187,8 +182,15 @@ int main() {
     glfwSwapBuffers(window); // front buffer is now back
     glClear(GL_COLOR_BUFFER_BIT); // Write to back buffer again (former front buf)
 
-    body b2 = create_new_sphere();
-    b2.color = glm::vec4(0, 0.5, 0, 1);
+   /* body b;
+    assert(load_body(&b, "Icosphere.obj"));
+    b.shader = shader;
+    b.pose = glm::translate(b.pose, glm::vec3(5, 5, 5));
+    b.color = glm::vec4(1, 0, 0, 1);
+
+    body b2;
+    create_new_sphere(&b2);
+    b2.color = glm::vec4(0, 0.5, 0, 1);*/
 
     // glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
     // set_uniform(shader, "color", glm::vec4 { sin(time), sin(time + glm::radians(45.0f)), sin(time +
@@ -198,7 +200,7 @@ int main() {
     glEnable(GL_DEPTH_TEST);
 
     glm::mat4 projection_t
-        = glm::perspective(glm::radians(60.0f), (float)width / (float)height, 0.1f, 1300.0f);
+        = glm::perspective(glm::radians(45.0f), (float)width / (float)height, 0.1f, 1300.0f);
 
     pthread_t thread_id;
     pthread_create(&thread_id, NULL, process_cin, NULL);
@@ -209,12 +211,19 @@ int main() {
         set_uniform(shader, "camera_t", camera_t);
         set_uniform(shader, "projection_t", projection_t);
 
-        draw_body(b2);
+        /*draw_body(b);
+        draw_body(b2);*/
 
         pthread_mutex_lock(&lock);
 
         for (int i = 0; i < camera_bodies.size(); i++) {
-            draw_body(std::get<1>(camera_bodies[i]));
+            if (!std::get<1>(camera_bodies[i])) {
+                body* b = (body*)malloc(sizeof(body));
+                create_new_sphere(b);
+                b->color = glm::vec4(i & 0x4, i& 0x2, i & 0x1, max_hp);
+                std::get<1>(camera_bodies[i]) = b;
+            }
+            draw_body(*std::get<1>(camera_bodies[i]));
         }
 
         pthread_mutex_unlock(&lock);
diff --git a/src/util.cpp b/src/util.cpp
index 14fbb02..4030da2 100644
--- a/src/util.cpp
+++ b/src/util.cpp
@@ -10,7 +10,7 @@ array<char*> _split_str_inner(const char* s, char delim, bool just_check_ws);
 
 template<class T> void append(array<T>& a, T el) {
     if (a.len == a.cap) {
-        resize(a, a.cap * 2);
+        resize(a, max(8, a.cap * 2));
     }
     a[a.len] = el;
     a.len++;
@@ -23,20 +23,18 @@ template<class T> T pop(array<T>& a) {
 }
 
 template<class T> void resize(array<T>& a, size_t new_cap) {
-    T* new_data = (T*)malloc(new_cap);
+    T* new_data = (T*)malloc(sizeof(T) * new_cap);
     if (a.len > 0) {
         memcpy(new_data, a.data, min(a.len, new_cap));
     }
     free(a.data);
+    a.data = new_data;
     a.len = min(a.len, new_cap);
     a.cap = new_cap;
 }
 
-template<class T> void free(array<T>& a) {
-    if (a.len > 0)
-        free(a.data);
+template<class T> void clear(array<T>& a) {
     a.len = 0;
-    a.cap = 0;
 }
 
 bool read_file(array<char>* out, const char* filepath) {
@@ -76,7 +74,7 @@ array<char*> _split_str_inner(const char* s, char delim, bool just_check_ws) {
             memcpy(word, cur_word.data, cur_word.len);
             word[cur_word.len] = '\0';
             append(res, word);
-            free(cur_word);
+            clear(cur_word);
             if (c == '\0') {
                 break;
             }
@@ -89,6 +87,5 @@ array<char*> _split_str_inner(const char* s, char delim, bool just_check_ws) {
             break;
         }
     }
-    free(cur_word);
     return res;
 }
diff --git a/tester.py b/tester.py
new file mode 100644
index 0000000..6490329
--- /dev/null
+++ b/tester.py
@@ -0,0 +1,23 @@
+import time
+import numpy as np
+import subprocess
+from pathlib import Path
+
+p = subprocess.Popen(Path("bin", "x64", "Debug", "LivePlotter.exe"), stdin=subprocess.PIPE)
+
+x = 0
+y = 0
+z = 0
+t = 0
+period = 0.1
+while True:
+    time.sleep(period)
+    x = 10*np.cos(t)
+    y = 10*np.sin(t)
+    z = 0
+    t += period
+    p.stdin.write(f"test {x} {y} {z}\n".encode("utf8"))
+    p.stdin.write(f"test2 {x} {-y} {z}\n".encode("utf8"))
+    p.stdin.write(f"test3 {-x} {y} {z}\n".encode("utf8"))
+    p.stdin.write(f"test4 {-x} {-y} {z}\n".encode("utf8"))
+    p.stdin.flush()