diff --git a/dualcamwrapper.cpp b/dualcamwrapper.cpp
index cae8aaa..11abcee 100644
--- a/dualcamwrapper.cpp
+++ b/dualcamwrapper.cpp
@@ -1,8 +1,7 @@
 #include "dualcamwrapper.h"
 
-DualcamWrapper::DualcamWrapper(const CameraLayout &layout): valid(false), withLayout(true), camera0(nullptr), camera1(nullptr), cameras(2, nullptr) {
+DualcamWrapper::DualcamWrapper(const CameraLayout &layout): valid(false), withLayout(true) {
   qDebug() << "Constructor with layout";
-  this->fullName = layout.devices[0];
   this->layout = layout;
   Pylon::PylonInitialize();
 }
@@ -10,21 +9,11 @@ DualcamWrapper::DualcamWrapper(const CameraLayout &layout): valid(false), withLa
 
 DualcamWrapper::~DualcamWrapper() {
   qDebug() << "wrapper destructor";
-  if (camera0 != nullptr){
-    if (camera0->IsOpen()) {
-        qDebug() << "Camera 0 is open, closing it!";
-    camera0->Close();
+  for (int i =0; i < cameras.GetSize(); ++i) {
+    if (cameras[i].IsOpen()) {
+        cameras[i].Close();
+        qDebug() << "Camera " << i << " is open, closing it!";
     }
-    delete camera0;
-    camera0 = nullptr;
-  }
-  if (camera1 != nullptr){
-    if (camera1->IsOpen()) {
-        qDebug() << "Camera 1 is open, closing it!";
-    camera1->Close();
-    }
-    delete camera1;
-    camera1 = nullptr;
   }
   terminate();
   qDebug() << "Successfully deleted cameras";
@@ -46,49 +35,47 @@ bool DualcamWrapper::isOpen() {
 }
 
 
-double DualcamWrapper::maxFrameRate() {
-  double max_rate = -1;
-  // FIXME max framerate of both cameras!
-  if (valid) {
-     GenApi::INodeMap& nodemap = camera0->GetNodeMap();
-     GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
-     Pylon::CFloatParameter framerate( n );
-     return framerate.GetMax();
-  }
+double DualcamWrapper::maxFrameRate(int camindex) {
+    assert(camindex >= 0 && camindex < 2);
+    double max_rate = -1;
+    if (valid) {
+        GenApi::INodeMap& nodemap = getNodemap(camindex);
+        GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
+        Pylon::CFloatParameter framerate( n );
+        return framerate.GetMax();
+    }
   return max_rate;
 }
 
 
-bool DualcamWrapper::frameRate(uint new_framerate) {
+bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
   if (valid) {
-      GenApi::INodeMap& nodemap = camera0->GetNodeMap();
-      GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
-      Pylon::CBooleanParameter enableframerate(n);
-      enableframerate.SetValue(true);
-
-      n = nodemap.GetNode( "AcquisitionFrameRate" );
-      Pylon::CFloatParameter framerate( n );
-      framerate.SetValue( new_framerate );
-
-      nodemap = camera1->GetNodeMap();
-      n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
-      Pylon::CBooleanParameter enableframerate1(n);
-      enableframerate1.SetValue(true);
-
-      n = nodemap.GetNode( "AcquisitionFrameRate" );
-      Pylon::CFloatParameter framerate1( n );
-      framerate1.SetValue( new_framerate );
-      return true;
+      if (camindex == -1) {
+        frameRate(new_framerate, 0);
+        frameRate(new_framerate, 1);
+        return true;
+      } else if (camindex == 0 && camindex ==1) {
+        GenApi::INodeMap& nodemap = getNodemap(0);
+        GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
+        Pylon::CBooleanParameter enableframerate(n);
+        enableframerate.SetValue(true);
+        n = nodemap.GetNode( "AcquisitionFrameRate" );
+        Pylon::CFloatParameter framerate( n );
+        framerate.SetValue( new_framerate );
+        return true;
+      } else {
+        return false;
+      }
     }
   return false;
 }
 
 
-double DualcamWrapper::frameRate() {
+double DualcamWrapper::frameRate(int camindex) {
+  assert(camindex > 0 && camindex < 2);
   double rate = -1.;
-  //FIXME read framerate setting from both cameras
   if (valid) {
-      GenApi::INodeMap& nodemap = camera0->GetNodeMap();
+      GenApi::INodeMap& nodemap = getNodemap(camindex);
       GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRate" );
       Pylon::CFloatParameter framerate( n );
       rate = framerate.GetValue();
@@ -97,11 +84,11 @@ double DualcamWrapper::frameRate() {
 }
 
 
-double DualcamWrapper::exposureTime() {
-  //FIXME exposure setting from both cameras
+double DualcamWrapper::exposureTime(int camindex) {
+  assert(camindex > 0 && camindex < 2);
   double time = -1.;
   if (valid) {
-      GenApi::INodeMap& nodemap = camera0->GetNodeMap();
+      GenApi::INodeMap& nodemap = getNodemap(camindex);
       GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
       Pylon::CFloatParameter exposure_time( n );
       time = exposure_time.GetValue();
@@ -111,39 +98,32 @@ double DualcamWrapper::exposureTime() {
 
 
 bool DualcamWrapper::exposureTime(double exposure_time, int camindex) {
-    // FIXME support setting exposure individually 
     if (valid) {
-        GenApi::INodeMap& nodemap = camera0->GetNodeMap();
-        double d = GenApi::CFloatPtr(nodemap.GetNode("ExposureTime"))->GetValue();
-        GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
-        try {
-            GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Standard");
-        } catch (...) {
-            qWarning() << "Could not set exposure for cam0"; 
-        }
-        Pylon::CFloatParameter exp_time( n );
-        exp_time.SetValue( exposure_time );
-
-        nodemap = camera1->GetNodeMap();
-        d = GenApi::CFloatPtr(nodemap.GetNode("ExposureTime"))->GetValue();
-        n = nodemap.GetNode( "ExposureTime" );
-        try {
-            GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Standard");
-        } catch (...) {
-            qWarning() << "Could not set exposure for cam1";
+        if (camindex == -1) {
+            exposureTime(exposure_time, 0);
+            exposureTime(exposure_time, 1);
+        } else {
+            GenApi::INodeMap& nodemap = getNodemap(camindex);
+            double d = GenApi::CFloatPtr(nodemap.GetNode("ExposureTime"))->GetValue();
+            GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
+            try {
+                GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Standard");
+            } catch (...) {
+                qWarning() << "Could not set exposure for cam0"; 
+            }
+            Pylon::CFloatParameter exp_time( n );
+            exp_time.SetValue( exposure_time );
         }
-        Pylon::CFloatParameter exp_time1( n );
-        exp_time1.SetValue( exposure_time );
-        return true;
       }
     return false;
 }
 
 
-double DualcamWrapper::gain() {
+double DualcamWrapper::gain(int camindex) {
+  assert(camindex >= 0 && camindex < 2);
   double gain = -1.;
   if (valid) {
-      GenApi::INodeMap& nodemap = camera0->GetNodeMap();
+      GenApi::INodeMap& nodemap = getNodemap(camindex);
       GenApi::INode* n = nodemap.GetNode( "Gain" );
       Pylon::CFloatParameter detector_gain( n );
       gain = detector_gain.GetValue();
@@ -154,13 +134,17 @@ double DualcamWrapper::gain() {
 
 bool DualcamWrapper::gain(double gain_db, int camindex) {
     if (valid) {
-        GenApi::INodeMap& nodemap = camera0->GetNodeMap();
-        GenApi::CFloatPtr(nodemap.GetNode("Gain"))->SetValue(gain_db);
-
-        nodemap = camera1->GetNodeMap();
-        GenApi::CFloatPtr(nodemap.GetNode("Gain"))->SetValue(gain_db);
-        return true;
-      }
+        if (camindex == -1) {
+            gain(gain_db, 0);
+            gain(gain_db, 1);
+        } else if (camindex >= 0 && camindex < 2) {
+            GenApi::INodeMap& nodemap = getNodemap(camindex);
+            GenApi::CFloatPtr(nodemap.GetNode("Gain"))->SetValue(gain_db);
+            return true;
+        } else{
+            return false;
+        }
+    }
     return false;
 }
 
@@ -169,22 +153,16 @@ ImageSettings DualcamWrapper::getImageSettings(int camindex) {
   ImageSettings settings;
   if (valid) {
     GenApi::INodeMap &nodemap = getNodemap(camindex);
-    //   GenApi::INodeMap& nodemap;
-    //   if (camindex == 0) {
-    //     nodemap = camera0->GetNodeMap();
-    //   } else {
-    //     nodemap = camera1->GetNodeMap();
-    //   }
-      Pylon::CEnumParameter pixelFormat( nodemap, "PixelFormat" );
-      Pylon::CPixelTypeMapper pixelTypeMapper( &pixelFormat );
-      Pylon::EPixelType pixelType = pixelTypeMapper.GetPylonPixelTypeFromNodeValue( pixelFormat.GetIntValue() );
-      Pylon::CIntegerParameter width( nodemap, "Width" );
-      Pylon::CIntegerParameter height( nodemap, "Height" );
-      settings.pixelType = pixelType;
-      settings.width = (uint32_t)width.GetValue();
-      settings.height = (uint32_t)height.GetValue();
-      settings.orientation = Pylon::EImageOrientation::ImageOrientation_TopDown;
-    }
+    Pylon::CEnumParameter pixelFormat( nodemap, "PixelFormat" );
+    Pylon::CPixelTypeMapper pixelTypeMapper( &pixelFormat );
+    Pylon::EPixelType pixelType = pixelTypeMapper.GetPylonPixelTypeFromNodeValue( pixelFormat.GetIntValue() );
+    Pylon::CIntegerParameter width( nodemap, "Width" );
+    Pylon::CIntegerParameter height( nodemap, "Height" );
+    settings.pixelType = pixelType;
+    settings.width = (uint32_t)width.GetValue();
+    settings.height = (uint32_t)height.GetValue();
+    settings.orientation = Pylon::EImageOrientation::ImageOrientation_TopDown;
+  }
   return settings;
 }
 
@@ -195,14 +173,6 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
   qDebug() << "grabFrame from camera " << camindex;
   if (valid) {
     GenApi::INodeMap &nodemap = getNodemap(camindex);
-    // GenApi::INodeMap& nodemap;
-    // if (camindex == 0) {
-    //     nodemap = camera0->GetNodeMap();
-    //     camera = camera0;
-    // } else {
-    //     nodemap = camera1->GetNodeMap();
-    //     camera = camera1;
-    // }
     qDebug() << "Setting width" << layout.rois[0].width;
     Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[0].width);
     qDebug() << "Setting height" << layout.rois[0].height;
@@ -222,11 +192,7 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
 
 
 void DualcamWrapper::resetCamera(int camindex) {
-    GenApi::INodeMap &nodemap = getNodemap(camindex);
-    // ->GetNodeMap();;
-    // if (camindex == 1){
-    //     nodemap = camera1->GetNodeMap();
-    // }
+    GenApi::INodeMap &nodemap = getNodemap( camindex );
     int64_t dfltWidth = 2048;
     int64_t dfltHeight = 1536;
   qDebug() << "resetting camera to default ROI (" << dfltWidth << ", " << dfltHeight << ")";
@@ -248,13 +214,14 @@ void DualcamWrapper::resetCamera(int camindex) {
 bool DualcamWrapper::openCameras(std::string &message) {
     qDebug() << "opening cameras";
     bool valid = true;
+    Pylon::CTlFactory& tlFactory = Pylon::CTlFactory::GetInstance();
+    // Pylon::CInstantCameraArray cameras(2);
+    cameras.Initialize(2);
     try {
-        camera0 = new Pylon::CInstantCamera();
-        Pylon::String_t fname(layout.devices[0].c_str());
-        Pylon::IPylonDevice *pDevice = Pylon::CTlFactory::GetInstance().CreateDevice(fname);
-        camera0->Attach(pDevice);
-        camera0->Open();
-        valid = camera0->IsOpen();
+        cameras[0].Attach( tlFactory.CreateDevice( layout.devices[0].c_str() ) );
+        cameras[1].Attach( tlFactory.CreateDevice( layout.devices[1].c_str() ) );
+        valid = cameras[0].IsOpen();
+        valid = valid & cameras[1].IsOpen();
         message = "Successfully opened camera!";
     } catch (const Pylon::GenericException &e) {
         message = e.GetDescription();
@@ -263,21 +230,6 @@ bool DualcamWrapper::openCameras(std::string &message) {
         return valid;
     }
     resetCamera(0);
-
-    try {
-        camera1 = new Pylon::CInstantCamera();
-        Pylon::String_t fname(layout.devices[1].c_str());
-        Pylon::IPylonDevice *pDevice = Pylon::CTlFactory::GetInstance().CreateDevice(fname);
-        camera1->Attach(pDevice);
-        camera1->Open();
-        valid = valid & camera1->IsOpen();
-        message = "Successfully opened camera!";
-    } catch (const Pylon::GenericException &e) {
-        message = e.GetDescription();
-        std::cerr << "An exception occurred." << std::endl << e.GetDescription() << std::endl;
-        valid = false;
-        return valid;
-    }
     resetCamera(1);
 
     return valid;
@@ -286,42 +238,25 @@ bool DualcamWrapper::openCameras(std::string &message) {
 
 void DualcamWrapper::closeCameras() {
   qDebug() << "Close cameras!";
-  if (camera0->IsOpen()) {
-      try {
-        camera0->Close();
-        valid = false;
-        delete camera0;
-        camera0 = nullptr;
-      } catch (const Pylon::GenericException &e) {
-        qWarning() << "An exception occurred." << e.GetDescription();
-      }
-    }
-    if (camera1->IsOpen()) {
-      try {
-        camera1->Close();
-        valid = false;
-        delete camera1;
-        camera1 = nullptr;
-      } catch (const Pylon::GenericException &e) {
-        qWarning() << "An exception occurred." << e.GetDescription();
-      }
-    }
+  if (cameras[0].IsOpen()) {
+    cameras[0].Close();
+  }
+  if (cameras[1].IsOpen()) {
+    cameras[1].Close();
+  }
+  valid = false;
 }
 
-
-Pylon::CInstantCamera *DualcamWrapper::getCamera(int camindex) {
-  if (camindex == 0) {
-    return camera0;
-  } else {
-    return camera1;
-  }
+Pylon::CInstantCameraArray &DualcamWrapper::getCameraArray() {
+    return cameras;
 }
 
+// Pylon::CInstantCamera DualcamWrapper::getCamera(int camindex) {
+//     return this.cameras[camindex];
+// }
+
 
 GenApi::INodeMap& DualcamWrapper::getNodemap(int camindex){
-    GenApi::INodeMap &nodemap = camera0->GetNodeMap();;
-    if (camindex == 1){
-        nodemap = camera1->GetNodeMap();
-    }
+    GenApi::INodeMap &nodemap = cameras[camindex].GetNodeMap();
     return nodemap;
 }
\ No newline at end of file
diff --git a/dualcamwrapper.h b/dualcamwrapper.h
index cd58e63..eecc660 100644
--- a/dualcamwrapper.h
+++ b/dualcamwrapper.h
@@ -15,28 +15,28 @@ public:
     DualcamWrapper(const CameraLayout &layout);
     ~DualcamWrapper();
 
+
     ImageSettings getImageSettings(int camindex);
     bool isOpen();
     void terminate();
     bool openCameras(std::string &message);
     void closeCameras();
     bool grabFrame(MyImage &img, int camindex=0);
-    bool frameRate(uint framerate);
-    double frameRate();
-    double maxFrameRate();
-    double exposureTime();
+    bool frameRate(uint framerate, int camindex=-1);
+    double frameRate(int camindex);
+    double maxFrameRate(int camindex);
+    double exposureTime(int camindex);
     bool exposureTime(double exposure_time, int camindex=-1);
-    double gain();
+    double gain(int camindex);
     bool gain(double gain_db, int camindex=-1);
-    Pylon::CInstantCamera *getCamera(int camindex);
+    Pylon::CInstantCameraArray &getCameraArray();
+    // Pylon::CInstantCamera getCamera(int camindex);
 
 private:
     void resetCamera(int camindex);
+    Pylon::CInstantCameraArray cameras;
     GenApi::INodeMap& getNodemap(int camindex);
-    std::vector<Pylon::CInstantCamera*> cameras;
-    Pylon::CInstantCamera *camera0, *camera1;
     bool valid, withLayout;
-    std::string fullName;
     CameraLayout layout;
 
 };