diff --git a/src/pipeline/abstract/pipelineNode.hpp b/src/pipeline/abstract/pipelineNode.hpp
index 98e6d72..c9d0cf7 100644
--- a/src/pipeline/abstract/pipelineNode.hpp
+++ b/src/pipeline/abstract/pipelineNode.hpp
@@ -27,6 +27,7 @@ class PipelineNode{
         bool isRunning();
         void stop();
         void start();
+        virtual std::string getName()=0;
         std::thread* joinThread();
         void setThreadToCore(int core);
         void addSubNode(SubNode* sn);
diff --git a/src/pipeline/members/cameraPickerNode.cpp b/src/pipeline/members/cameraPickerNode.cpp
index aada1e7..4387592 100644
--- a/src/pipeline/members/cameraPickerNode.cpp
+++ b/src/pipeline/members/cameraPickerNode.cpp
@@ -18,4 +18,8 @@ void cameraPickerNode::processFrame(){
     _sourceManager->accessLocks[0]->unlock();
     outputLock.unlock();
     DEBUG_LOG("cameraPickerNode on thread " << localThread->get_id() << " is done picking its camera frame");
+}
+
+std::string cameraPickerNode::getName(){
+    return "camera Picker";
 }
\ No newline at end of file
diff --git a/src/pipeline/members/cameraPickerNode.hpp b/src/pipeline/members/cameraPickerNode.hpp
index 816602b..b4c0586 100644
--- a/src/pipeline/members/cameraPickerNode.hpp
+++ b/src/pipeline/members/cameraPickerNode.hpp
@@ -5,6 +5,7 @@
 /// @brief this node will pick the right camera UMat from the ones available in its _sourceManager
 class cameraPickerNode : public PipelineNode{
     public:
+    std::string getName() override;
     cameraPickerNode(cameraManager* sourceManager);
     protected:
     void processFrame() override;
diff --git a/src/pipeline/members/displayOutputNode.cpp b/src/pipeline/members/displayOutputNode.cpp
index 595aa74..9d71f3c 100644
--- a/src/pipeline/members/displayOutputNode.cpp
+++ b/src/pipeline/members/displayOutputNode.cpp
@@ -25,4 +25,8 @@ void DisplayOutputNode::processFrame()
     _managed->drawSurface = previous->getOutput();
     _managed->drawAccess.unlock();
     _managed->draw();
+}
+
+std::string DisplayOutputNode::getName(){
+    return "display output";
 }
\ No newline at end of file
diff --git a/src/pipeline/members/displayOutputNode.hpp b/src/pipeline/members/displayOutputNode.hpp
index fac5490..5335d77 100644
--- a/src/pipeline/members/displayOutputNode.hpp
+++ b/src/pipeline/members/displayOutputNode.hpp
@@ -6,7 +6,7 @@ class DisplayOutputNode : public PipelineNode
 {
 public:
     DisplayOutputNode(PipelineNode* predecessor, Window* managed);
-
+    std::string getName() override;
 protected:
     void processFrame() override;
     bool inited = false;
diff --git a/src/pipeline/members/uiDrawerNode.cpp b/src/pipeline/members/uiDrawerNode.cpp
index 309c989..ac0f7de 100644
--- a/src/pipeline/members/uiDrawerNode.cpp
+++ b/src/pipeline/members/uiDrawerNode.cpp
@@ -25,9 +25,8 @@ void UiDrawerNode::processFrame()
         cv::rectangle(MenuMat, cv::Rect2i(0, 0, wd, he), cv::Scalar(255, 0, 0), 5, 8, 0);
         _backController->update();
         cv::putText(MenuMat, _backController->menuTitle, cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
-        for (std::map<std::string, std::function<void()>>::iterator iter = _backController->menuItems.begin(); iter != _backController->menuItems.end(); ++iter)
+        for (String str : _backController->menuItemNames)
         {
-            std::string str = iter->first;
             cv::putText(MenuMat, str, cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
         }
         Point2d pc = Point2d(0,stackerIndex);
@@ -44,4 +43,8 @@ void UiDrawerNode::processFrame()
         std::cerr << "\033[1;31m caught DrawUi::drawMenu thread exception \033[0m" << std::endl;
         exit(1);
     }
+}
+
+std::string UiDrawerNode::getName(){
+    return "ui drawer";
 }
\ No newline at end of file
diff --git a/src/pipeline/members/uiDrawerNode.hpp b/src/pipeline/members/uiDrawerNode.hpp
index 0752c7d..7ffc4ca 100644
--- a/src/pipeline/members/uiDrawerNode.hpp
+++ b/src/pipeline/members/uiDrawerNode.hpp
@@ -4,6 +4,7 @@
 class UiDrawerNode : public PipelineNode{
     public:
     UiDrawerNode(UiController* backController);
+    std::string getName() override;
     protected:
     void processFrame() override;
     UiController* _backController;
diff --git a/src/pipeline/members/uiMergerNode.cpp b/src/pipeline/members/uiMergerNode.cpp
index 5d65ce5..5334f62 100644
--- a/src/pipeline/members/uiMergerNode.cpp
+++ b/src/pipeline/members/uiMergerNode.cpp
@@ -29,4 +29,8 @@ void UiMergerNode::processFrame()
     outputLock.lock();
     output = finished; // write the final image to the psvr UI buffer
     outputLock.unlock();
+}
+
+std::string UiMergerNode::getName(){
+    return "ui merger";
 }
\ No newline at end of file
diff --git a/src/pipeline/members/uiMergerNode.hpp b/src/pipeline/members/uiMergerNode.hpp
index a123477..2efd2f2 100644
--- a/src/pipeline/members/uiMergerNode.hpp
+++ b/src/pipeline/members/uiMergerNode.hpp
@@ -5,6 +5,7 @@ class UiMergerNode : public PipelineNode
 {
 public:
     UiMergerNode(PipelineNode* previous,PipelineNode* menuDrawer, UiController* backController);
+    std::string getName() override;
 protected:
     void processFrame() override;
     PipelineNode* _menuDrawer;
diff --git a/src/pipeline/pipeline.cpp b/src/pipeline/pipeline.cpp
index b86877d..3ffd33b 100644
--- a/src/pipeline/pipeline.cpp
+++ b/src/pipeline/pipeline.cpp
@@ -18,14 +18,14 @@ Pipeline::Pipeline(){
     nodes.push_back(new cameraPickerNode(cm));
     nodes.push_back(new UiDrawerNode(uc));
     nodes.at(1)->addSubNode(fc);
+    nodes.at(1)->fpsLimit = 30;
     nodes.push_back(new UiMergerNode(nodes.at(0),nodes.at(1),uc));
     nodes.push_back(new DisplayOutputNode(nodes.at(2), wm->managedUIs.at(0)));
 
-    fc->addChecker("camera picker",nodes.at(0)->localES);
-    fc->addChecker("ui drawer",nodes.at(1)->localES);
-    fc->addChecker("ui merger",nodes.at(2)->localES);
-    fc->addChecker("display output",nodes.at(3)->localES);
+    for(PipelineNode* pn : nodes)
+        fc->addChecker(pn->getName(),pn->localES);
 
     for(PipelineNode* pn : nodes)
         pn->start();
+
 }
\ No newline at end of file
diff --git a/src/prog b/src/prog
index 8ee1376..008201a 100755
Binary files a/src/prog and b/src/prog differ