diff --git a/CMakeLists.txt b/CMakeLists.txt
index e078572c44b8d7aa695261c29f5e53fedb5cc646..41c97af5e78abc0d2addf8ae64c955ab3b70c370 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,7 @@ SET(CMAKE_MACOSX_RPATH 1)
 
 # The project name
 PROJECT(vision)
+set(PLUGIN_NAME wolf${PROJECT_NAME})
 
 
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
@@ -61,7 +62,7 @@ if(BUILD_TESTS)
     enable_testing()
 endif()
 
-MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
+MESSAGE("Starting ${PLUGIN_NAME} CMakeLists ...")
 CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
 #CMAKE modules
@@ -253,7 +254,7 @@ src/yaml/processor_image_yaml.cpp
 # ENDIF(Ceres_FOUND)
 
 # create the shared library
-ADD_LIBRARY(${PROJECT_NAME}
+ADD_LIBRARY(${PLUGIN_NAME}
   SHARED
   ${SRCS_CAPTURE}
   ${SRCS_COMMON}
@@ -269,23 +270,23 @@ ADD_LIBRARY(${PROJECT_NAME}
   ${SRCS_WRAPPER}
   ${SRCS_YAML}
   )
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${wolf_LIBRARY})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolf_LIBRARY})
 
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS})
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${vision_utils_LIBRARY})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${OpenCV_LIBS})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${vision_utils_LIBRARY})
 
 #Link the created libraries
 #===============EXAMPLE=========================
 # IF (Ceres_FOUND)
-#     TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CERES_LIBRARIES})
+#     TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CERES_LIBRARIES})
 # ENDIF(Ceres_FOUND)
 
 
 #Build tests
 #===============EXAMPLE=========================
 IF (GLOG_FOUND)
-    TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${GLOG_LIBRARY})
+    TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${GLOG_LIBRARY})
 ENDIF (GLOG_FOUND)
 IF (GLOG_FOUND)
     IF(BUILD_TESTS)
@@ -297,12 +298,12 @@ ENDIF (GLOG_FOUND)
 #install library
 
 #=============================================================
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets
+INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
       RUNTIME DESTINATION bin
       LIBRARY DESTINATION lib/iri-algorithms
       ARCHIVE DESTINATION lib/iri-algorithms)
 
-install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME})
+install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
 #install headers
 INSTALL(FILES ${HDRS_DTASSC}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/association)
@@ -335,27 +336,22 @@ INSTALL(FILES ${HDRS_SERIALIZATION}
 INSTALL(FILES ${HDRS_YAML}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/yaml)
 
-INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf${PROJECT_NAME}.cmake"
-  DESTINATION "lib/cmake/wolf${PROJECT_NAME}")
+# INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Find${PLUGIN_NAME}.cmake"
+#   DESTINATION "lib/cmake/${PLUGIN_NAME}")
+INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
 FILE(WRITE ${PROJECT_NAME}.found "")
 INSTALL(FILES ${PROJECT_NAME}.found
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME})
-#install Find*.cmake
-configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/wolf${PROJECT_NAME}Config.cmake"
-               "${CMAKE_BINARY_DIR}/wolf${PROJECT_NAME}Config.cmake" @ONLY)
-# configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf${PROJECT_NAME}.cmake"
-#                "${CMAKE_BINARY_DIR}/Findwolf${PROJECT_NAME}.cmake" @ONLY)
 
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
 DESTINATION include/iri-algorithms/wolf/internal)
 
-# INSTALL(FILES "${CMAKE_BINARY_DIR}/cmake_modules/Findwolf${PROJECT_NAME}.cmake"
-#   DESTINATION "lib/cmake/${PROJECT_NAME}")
-INSTALL(FILES "${CMAKE_BINARY_DIR}/wolf${PROJECT_NAME}Config.cmake" DESTINATION "lib/cmake/wolf${PROJECT_NAME}")
+# INSTALL(FILES "${CMAKE_BINARY_DIR}/cmake_modules/Findwolf${PLUGIN_NAME}.cmake"
+#   DESTINATION "lib/cmake/${PLUGIN_NAME}")
 
 INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
 
-export(PACKAGE wolf_${PROJECT_NAME})
+export(PACKAGE ${PLUGIN_NAME})
 
 FIND_PACKAGE(Doxygen)
 
diff --git a/cmake_modules/Findwolfvision.cmake b/cmake_modules/Findwolfvision.cmake
deleted file mode 100644
index 16c2f3cf5efe17e2de54818eeeecd6da6d60da04..0000000000000000000000000000000000000000
--- a/cmake_modules/Findwolfvision.cmake
+++ /dev/null
@@ -1,36 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(
-    vision_INCLUDE_DIRS
-    NAMES vision.found
-    PATHS /usr/local/include/iri-algorithms/wolf/plugin_vision)
-#change INCLUDE_DIRS to its parent directory
-# get_filename_component(vision_INCLUDE_DIRS ${vision_INCLUDE_DIRS} DIRECTORY)
-IF(vision_INCLUDE_DIRS)
-  MESSAGE("Found vision include dirs: ${vision_INCLUDE_DIRS}")
-ELSE
-  MESSAGE("Couldn't find vision include dirs")
-ENDIF
-
-FIND_LIBRARY(
-    vision_LIBRARY
-    NAMES libvision.so
-    PATHS /usr/lib /usr/local/lib /usr/local/lib/iri-algorithms) 
-IF(vision_LIBRARY)
-  MESSAGE("Found vision lib: ${vision_LIBRARY}")
-ELSE
-  MESSAGE("Couldn't find vision lib")
-ENDIF
-IF (vision_INCLUDE_DIRS AND vision_LIBRARY)
-   SET(vision_FOUND TRUE)
-ENDIF (vision_INCLUDE_DIRS AND vision_LIBRARY)
-
-IF (vision_FOUND)
-   IF (NOT vision_FIND_QUIETLY)
-      MESSAGE(STATUS "Found vision: ${vision_LIBRARY}")
-   ENDIF (NOT vision_FIND_QUIETLY)
-ELSE (vision_FOUND)
-   IF (wolf_FIND_REQUIRED)
-      MESSAGE(FATAL_ERROR "Could not find vision")
-   ENDIF (wolf_FIND_REQUIRED)
-ENDIF (vision_FOUND)
-
diff --git a/cmake_modules/wolfvisionConfig.cmake b/cmake_modules/wolfvisionConfig.cmake
index ddb642e2396ff8127616705d59019f7829c3f8e4..476c4f0274e855509f3e2a883f2133f29a5bdf4a 100644
--- a/cmake_modules/wolfvisionConfig.cmake
+++ b/cmake_modules/wolfvisionConfig.cmake
@@ -1,188 +1,65 @@
-# This file was copied and adapted from the ceres_solver project
-# http://ceres-solver.org/
+#edit the following line to add the librarie's header files
+FIND_PATH(
+    wolfvision_INCLUDE_DIR
+    NAMES vision.found
+    PATHS /usr/local/include/iri-algorithms/wolf/plugin_vision)
+IF(wolfvision_INCLUDE_DIR)
+  MESSAGE("Found vision include dirs: ${wolfvision_INCLUDE_DIR}")
+ELSE(wolfvision_INCLUDE_DIR)
+  MESSAGE("Couldn't find vision include dirs")
+ENDIF(wolfvision_INCLUDE_DIR)
+
+FIND_LIBRARY(
+    wolfvision_LIBRARY
+    NAMES libwolfvision.so
+    PATHS /usr/local/lib/iri-algorithms)
+IF(wolfvision_LIBRARY)
+  MESSAGE("Found vision lib: ${wolfvision_LIBRARY}")
+ELSE(wolfvision_LIBRARY)
+  MESSAGE("Couldn't find wolf vision lib")
+ENDIF(wolfvision_LIBRARY)
+
+IF (wolfvision_INCLUDE_DIR AND wolfvision_LIBRARY)
+   SET(wolfvision_FOUND TRUE)
+ ELSE(wolfvision_INCLUDE_DIR AND wolfvision_LIBRARY)
+   set(wolfvision_FOUND FALSE)
+ENDIF (wolfvision_INCLUDE_DIR AND wolfvision_LIBRARY)
+
+IF (wolfvision_FOUND)
+   IF (NOT wolfvision_FIND_QUIETLY)
+      MESSAGE(STATUS "Found vision: ${wolfvision_LIBRARY}")
+   ENDIF (NOT wolfvision_FIND_QUIETLY)
+ELSE (wolfvision_FOUND)
+   IF (wolfvision_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find wolf vision")
+   ENDIF (wolfvision_FIND_REQUIRED)
+ENDIF (wolfvision_FOUND)
 
-# wolf - Windowed Localization Frames
-# Copyright 2016
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# * Redistributions of source code must retain the above copyright notice,
-#   this list of conditions and the following disclaimer.
-# * Redistributions in binary form must reproduce the above copyright notice,
-#   this list of conditions and the following disclaimer in the documentation
-#   and/or other materials provided with the distribution.
-# * Neither the name of Google Inc. nor the names of its contributors may be
-#   used to endorse or promote products derived from this software without
-#   specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-# Authors: 
-#
-
-# Config file for wolf - Find wolf & dependencies.
-#
-# This file is used by CMake when find_package(wolf) is invoked and either
-# the directory containing this file either is present in CMAKE_MODULE_PATH
-# (if wolf was installed), or exists in the local CMake package registry if
-# the wolf build directory was exported.
-#
-# This module defines the following variables:
-#
-# wolf_FOUND / wolf_FOUND: True if wolf has been successfully
-#                            found. Both variables are set as although
-#                            FindPackage() only references wolf_FOUND
-#                            in Config mode, given the conventions for
-#                            <package>_FOUND when FindPackage() is
-#                            called in Module mode, users could
-#                            reasonably expect to use wolf_FOUND
-#                            instead.
-#
-# wolf_VERSION: Version of wolf found.
-#
-# wolf_INCLUDE_DIRS: Include directories for wolf and the
-#                     dependencies which appear in the wolf public
-#                     API and are thus required to use wolf.
-#
-# wolf_LIBRARIES: Libraries for wolf and all
-#                  dependencies against which wolf was
-#                  compiled. This will not include any optional
-#                  dependencies that were disabled when wolf was
-#                  compiled.
-#
-# The following variables are also defined for legacy compatibility
-# only.  Any new code should not use them as they do not conform to
-# the standard CMake FindPackage naming conventions.
-#
-# wolf_INCLUDES = ${wolf_INCLUDE_DIRS}.
-
-# Called if we failed to find Ceres or any of its required dependencies,
-# unsets all public (designed to be used externally) variables and reports
-# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
 macro(wolf_report_not_found REASON_MSG)
-  # FindPackage() only references Ceres_FOUND, and requires it to be
-  # explicitly set FALSE to denote not found (not merely undefined).
-  set(wolf_vision_FOUND FALSE)
-  unset(wolf_vision_INCLUDE_DIRS)
-  unset(wolf_vision_LIBRARIES)
+  set(wolfvision_FOUND FALSE)
+  unset(wolfvision_INCLUDE_DIR)
+  unset(wolfvision_LIBRARIES)
 
   # Reset the CMake module path to its state when this script was called.
   set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
 
   # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
   # FindPackage() use the camelcase library name, not uppercase.
-  if (wolf_vision_FIND_QUIETLY)
-    message(STATUS "Failed to find wolf_vision- " ${REASON_MSG} ${ARGN})
-  else (wolf_vision_FIND_REQUIRED)
-    message(FATAL_ERROR "Failed to find wolf_vision - " ${REASON_MSG} ${ARGN})
+  if (wolfvision_FIND_QUIETLY)
+    message(STATUS "Failed to find wolfvision- " ${REASON_MSG} ${ARGN})
+  else (wolfvision_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find wolfvision - " ${REASON_MSG} ${ARGN})
   else()
     # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
     # that prevents generation, but continues configuration.
-    message(SEND_ERROR "Failed to find wolf_vision - " ${REASON_MSG} ${ARGN})
+    message(SEND_ERROR "Failed to find wolfvision - " ${REASON_MSG} ${ARGN})
   endif ()
   return()
 endmacro(wolf_report_not_found)
 
-# Record the state of the CMake module path when this script was
-# called so that we can ensure that we leave it in the same state on
-# exit as it was on entry, but modify it locally.
-set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
-
-# Get the (current, i.e. installed) directory containing this file.
-get_filename_component(plugin_CURRENT_CONFIG_DIR
-  "${CMAKE_CURRENT_LIST_FILE}" PATH)
-
-# Reset CMake module path to the installation directory of this
-# script, thus we will use the FindPackage() scripts shipped with
-# wolf to find wolf' dependencies, even if the user has equivalently
-# named FindPackage() scripts in their project.
-set(CMAKE_MODULE_PATH ${plugin_CURRENT_CONFIG_DIR})
-
-# Build the absolute root install directory as a relative path
-# (determined when wolf was configured & built) from the current
-# install directory for this this file.  This allows for the install
-# tree to be relocated, after wolf was built, outside of CMake.
-get_filename_component(CURRENT_ROOT_INSTALL_DIR
-  ${plugin_CURRENT_CONFIG_DIR}/../../../
-  ABSOLUTE)
-if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
-  wolf_report_not_found(
-    "wolf install root: ${CURRENT_ROOT_INSTALL_DIR}, "
-    "determined from relative path from wolfConfig.cmake install location: "
-    "${wolf_CURRENT_CONFIG_DIR}, does not exist. Either the install "
-    "directory was deleted, or the install tree was only partially relocated "
-    "outside of CMake after wolf was built.")
-endif (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
-
+if(NOT wolfvision_FOUND)
+  wolf_report_not_found("TROUBLE DUDE.")
+endif(NOT wolfvision_FOUND)
 # Set the include directories for wolf (itself).
-set(wolf_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include/iri-algorithms")
-
-# if (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h)
-if (NOT EXISTS ${vision_INCLUDE_DIRS})
-  wolf_report_not_found(
-    "wolf install root: ${CURRENT_ROOT_INSTALL_DIR}, "
-    "determined from relative path from wolfConfig.cmake install location: "
-    "${wolf_CURRENT_CONFIG_DIR}, does not contain wolf headers. "
-    "Either the install directory was deleted, or the install tree was only "
-    "partially relocated outside of CMake after wolf was built.")
-# endif (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h)
-endif (NOT EXISTS ${vision_INCLUDE_DIRS})
-# list(APPEND wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIR}/wolf)
-
-# Set the version.
-set(wolf_VERSION 0.0.1)
-
-# # Import exported wolf targets, if they have not already been imported.
-# if (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
-#   include(${wolf_CURRENT_CONFIG_DIR}/wolfTargets.cmake)
-# endif (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
-# # Set the expected XX_LIBRARIES variable for FindPackage().
-# set(wolf_LIBRARIES wolf)
-
-# Set legacy library variable for backwards compatibility.
-# set(wolf_vision_LIBRARY ${vision_LIBRARIES})
-set(wolf_vision_LIBRARY ${vision_LIBRARY})
-message(${wolf_vision_LIBRARY})
-
-# Make user aware of any compile flags that will be added to their targets
-# which use wolf (i.e. flags exported in the wolf target).  Only CMake
-# versions >= 2.8.12 support target_compile_options().
-# if (TARGET ${wolf_LIBRARIES} AND
-#     NOT CMAKE_VERSION VERSION_LESS "2.8.12")
-#   get_target_property(wolf_INTERFACE_COMPILE_OPTIONS
-#     ${wolf_LIBRARIES} INTERFACE_COMPILE_OPTIONS)
-
-#   set(wolf_LOCATION "${CURRENT_ROOT_INSTALL_DIR}")
-
-#   # Check for -std=c++11 flags.
-#   if (wolf_INTERFACE_COMPILE_OPTIONS MATCHES ".*std=c\\+\\+11.*")
-#     message(STATUS "wolf version ${wolf_VERSION} detected here: "
-#       "${wolf_LOCATION} was built with C++11. wolf target will add "
-#       "C++11 flags to compile options for targets using it.")
-#   endif()
-# endif()
-
-# Reset CMake module path to its state when this script was called.
-set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
-
-# As we use wolf_REPORT_NOT_FOUND() to abort, if we reach this point we have
-# found wolf and all required dependencies.
-message(STATUS "Found wolf vision version: ${wolf_VERSION} installed in: ${CURRENT_ROOT_INSTALL_DIR}")
-
-# Set wolf_FOUND to be equivalent to wolf_FOUND, which is set to
-# TRUE by FindPackage() if this file is found and run, and after which
-# wolf_FOUND is not (explicitly, i.e. undefined does not count) set
-# to FALSE.
-set(wolf_vision_FOUND TRUE)
+set(wolfvision_FOUND TRUE)
\ No newline at end of file
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 8c13de3f3ddc9a101433f17ba2bc436587edea08..b99b2a37db5aca14c7678f0d65b812a217b7e8ea 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -9,13 +9,13 @@ include_directories(${GTEST_INCLUDE_DIRS})
 #                                                         #
 # Create a specific test executable for gtest_example     #
 wolf_add_gtest(gtest_example gtest_example.cpp)           #
-target_link_libraries(gtest_example ${PROJECT_NAME})      #
+target_link_libraries(gtest_example ${PLUGIN_NAME})      #
 #                                                         #
 ###########################################################
 
 wolf_add_gtest(gtest_sensor_camera gtest_sensor_camera.cpp)
-target_link_libraries(gtest_sensor_camera ${PROJECT_NAME} ${wolf_LIBRARY} ${OpenCV_LIBS} ${vision_utils_LIBRARY})
+target_link_libraries(gtest_sensor_camera ${PLUGIN_NAME} ${wolf_LIBRARY} ${OpenCV_LIBS} ${vision_utils_LIBRARY})
 
 # ProcessorFeatureTrifocal test
 wolf_add_gtest(gtest_processor_tracker_feature_trifocal gtest_processor_tracker_feature_trifocal.cpp)
-target_link_libraries(gtest_processor_tracker_feature_trifocal ${PROJECT_NAME} ${wolf_LIBRARY} ${OpenCV_LIBS} ${vision_utils_LIBRARY})
\ No newline at end of file
+target_link_libraries(gtest_processor_tracker_feature_trifocal ${PLUGIN_NAME} ${wolf_LIBRARY} ${OpenCV_LIBS} ${vision_utils_LIBRARY})
\ No newline at end of file