diff --git a/include/base/constraint/constraint_autodiff_trifocal.h b/include/base/constraint/constraint_autodiff_trifocal.h
index d3844c350c17753d3baa0a32a627555466fefe23..e10c59649055b18b3cd4b2cca93f1add68f950e5 100644
--- a/include/base/constraint/constraint_autodiff_trifocal.h
+++ b/include/base/constraint/constraint_autodiff_trifocal.h
@@ -133,6 +133,7 @@ ConstraintAutodiffTrifocal::ConstraintAutodiffTrifocal(
         const ProcessorBasePtr& _processor_ptr,
         bool _apply_loss_function,
         ConstraintStatus _status) : ConstraintAutodiff( "TRIFOCAL PLP",
+                                                        nullptr,
                                                         nullptr,
                                                         _feature_origin_ptr,
                                                         nullptr,
diff --git a/src/landmark/landmark_point_3D.h b/include/base/landmark/landmark_point_3D.h
similarity index 100%
rename from src/landmark/landmark_point_3D.h
rename to include/base/landmark/landmark_point_3D.h
diff --git a/src/processor/processor_tracker_feature_trifocal.h b/include/base/processor/processor_tracker_feature_trifocal.h
similarity index 100%
rename from src/processor/processor_tracker_feature_trifocal.h
rename to include/base/processor/processor_tracker_feature_trifocal.h
diff --git a/src/landmark/landmark_AHP.cpp b/src/landmark/landmark_AHP.cpp
index f1a68397809ec79b0418798cc6a2fef626a843fe..17a22bac36a1aa27f3b83f3589670abf1c12d85f 100644
--- a/src/landmark/landmark_AHP.cpp
+++ b/src/landmark/landmark_AHP.cpp
@@ -2,7 +2,7 @@
 
 #include "base/state_homogeneous_3D.h"
 #include "base/factory.h"
-#include "yaml/yaml_conversion.h"
+#include "base/yaml/yaml_conversion.h"
 
 namespace wolf {
 
diff --git a/src/landmark/landmark_point_3D.cpp b/src/landmark/landmark_point_3D.cpp
index 0deed3861479174eb87e5e2bb2ee4d1d0b6fa714..dda3984e904ecb1221074df749cdcc671dfed3ff 100644
--- a/src/landmark/landmark_point_3D.cpp
+++ b/src/landmark/landmark_point_3D.cpp
@@ -1,4 +1,4 @@
-#include "landmarks/landmark_point_3D.h"
+#include "base/landmark/landmark_point_3D.h"
 
 namespace wolf {
 
diff --git a/src/processor/processor_tracker_feature_image.cpp b/src/processor/processor_tracker_feature_image.cpp
index c7dc1866f245db39231a30912a8e90fc61fc3262..716a2cca77b6a8196955a9549490d138b4d93868 100644
--- a/src/processor/processor_tracker_feature_image.cpp
+++ b/src/processor/processor_tracker_feature_image.cpp
@@ -392,7 +392,7 @@ ProcessorBasePtr ProcessorTrackerFeatureImage::create(const std::string& _unique
 } // namespace wolf
 
 // Register in the SensorFactory
-#include "processor_factory.h"
+#include "base/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("IMAGE FEATURE", ProcessorTrackerFeatureImage)
 } // namespace wolf
diff --git a/src/processor/processor_tracker_feature_trifocal.cpp b/src/processor/processor_tracker_feature_trifocal.cpp
index 2ee0b277f1f999c5891eea3fd3dac1940e160a68..6a0fa198f7740767641d190b6191e4acb6eb13a8 100644
--- a/src/processor/processor_tracker_feature_trifocal.cpp
+++ b/src/processor/processor_tracker_feature_trifocal.cpp
@@ -1,10 +1,10 @@
 
 // wolf
-#include "processor/processor_tracker_feature_trifocal.h"
+#include "base/processor/processor_tracker_feature_trifocal.h"
 
 #include "base/sensor/sensor_camera.h"
 #include "base/feature/feature_point_image.h"
-#include "constraints/constraint_autodiff_trifocal.h"
+#include "base/constraint/constraint_autodiff_trifocal.h"
 #include "base/capture/capture_image.h"
 
 // vision_utils
@@ -452,7 +452,7 @@ ProcessorBasePtr ProcessorTrackerFeatureTrifocal::create(const std::string& _uni
 } // namespace wolf
 
 // Register in the ProcessorFactory
-#include "processor_factory.h"
+#include "base/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("TRACKER FEATURE TRIFOCAL", ProcessorTrackerFeatureTrifocal)
 } // namespace wolf
diff --git a/src/yaml/processor_image_yaml.cpp b/src/yaml/processor_image_yaml.cpp
index 051174ef5b23b76fa950279e8f1e6f74e879991d..a02d44208d414294d203661a27da019b94d04afa 100644
--- a/src/yaml/processor_image_yaml.cpp
+++ b/src/yaml/processor_image_yaml.cpp
@@ -65,4 +65,4 @@ const bool WOLF_UNUSED registered_prc_image_feature_par = ProcessorParamsFactory
 const bool WOLF_UNUSED registered_prc_image_landmark_par = ProcessorParamsFactory::get().registerCreator("IMAGE LANDMARK", createProcessorParamsImage);
 
 }
-
+}
diff --git a/src/yaml/processor_tracker_feature_trifocal_yaml.cpp b/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
index 2a6ae97f7ecf2b81207d278d366a42a6124fa494..fd110aa0e142745558c4f3ec69ee71ea525c76cb 100644
--- a/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
+++ b/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
@@ -6,7 +6,7 @@
  */
 
 // wolf yaml
-#include "processor/processor_tracker_feature_trifocal.h"
+#include "base/processor/processor_tracker_feature_trifocal.h"
 #include "base/yaml/yaml_conversion.h"
 
 // wolf
diff --git a/test/gtest_constraint_autodiff_trifocal.cpp b/test/gtest_constraint_autodiff_trifocal.cpp
index 1615cc4abfb93f9fedc22885279a03abe636dff9..6447dcfe4f69e434f02a9219942e46048417a697 100644
--- a/test/gtest_constraint_autodiff_trifocal.cpp
+++ b/test/gtest_constraint_autodiff_trifocal.cpp
@@ -2,10 +2,10 @@
 
 #include "base/logging.h"
 
-#include "ceres_wrapper/ceres_manager.h"
-#include "processors/processor_tracker_feature_trifocal.h"
+#include "base/ceres_wrapper/ceres_manager.h"
+#include "base/processor/processor_tracker_feature_trifocal.h"
 #include "base/capture/capture_image.h"
-#include "constraints/constraint_autodiff_trifocal.h"
+#include "base/constraint/constraint_autodiff_trifocal.h"
 
 using namespace Eigen;
 using namespace wolf;
@@ -849,7 +849,7 @@ TEST_F(ConstraintAutodiffTrifocalMultiPointTest, solve_multi_point_scale)
     }
 }
 
-#include "constraints/constraint_autodiff_distance_3D.h"
+#include "base/constraint/constraint_autodiff_distance_3D.h"
 
 TEST_F(ConstraintAutodiffTrifocalMultiPointTest, solve_multi_point_distance)
 {
diff --git a/test/gtest_processor_tracker_feature_trifocal.cpp b/test/gtest_processor_tracker_feature_trifocal.cpp
index 47e42c577f69b7b1443b6752ed15c248721f00d6..d182bb4f376f579e498e6bc281ecf1d845a39315 100644
--- a/test/gtest_processor_tracker_feature_trifocal.cpp
+++ b/test/gtest_processor_tracker_feature_trifocal.cpp
@@ -5,7 +5,7 @@
 
 #include "vision_utils.h"
 
-#include "processors/processor_tracker_feature_trifocal.h"
+#include "base/processor/processor_tracker_feature_trifocal.h"
 #include "base/processor/processor_odom_3D.h"
 #include "base/capture/capture_image.h"
 #include "base/sensor/sensor_camera.h"