diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index 8152d007c9e8113580ae37e7b33debbf5b30127d..25c819a9c28d85b3d78fc235faa39aab96291a3b 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -344,20 +344,6 @@ inline std::string LandmarkFactory::getClass()
     return "LandmarkFactory";
 }
 
-// Frames
-class TimeStamp;
-} // namespace wolf
-#include "core/frame/frame_base.h"
-namespace wolf{
-typedef Factory<FrameBase, const FrameType&, const TimeStamp&, const Eigen::VectorXs&> FrameFactory;
-template<>
-inline std::string FrameFactory::getClass()
-{
-    return "FrameFactory";
-}
-
-//#define UNUSED(x) (void)x;
-//#define UNUSED(x) (void)(sizeof((x), 0));
 
 #ifdef __GNUC__
     #define WOLF_UNUSED __attribute__((used))
@@ -372,10 +358,6 @@ inline std::string FrameFactory::getClass()
 # define UNUSED(x) x
 #endif
 
-#define WOLF_REGISTER_FRAME(FrameType, FrameName) \
-  namespace{ const bool WOLF_UNUSED FrameName##Registered = \
-    wolf::FrameFactory::get().registerCreator(FrameType, FrameName::create); }\
-
 } /* namespace wolf */
 
 #endif /* FACTORY_H_ */
diff --git a/include/core/sensor/sensor_factory.h b/include/core/sensor/sensor_factory.h
index 1cd72622721bf8584d61d9140f037c31383b0749..4e4c8306a9efcf4e43d0837dbc4d98ee088e46fd 100644
--- a/include/core/sensor/sensor_factory.h
+++ b/include/core/sensor/sensor_factory.h
@@ -16,6 +16,7 @@ struct IntrinsicsBase;
 
 // wolf
 #include "core/common/factory.h"
+#include "core/utils/params_server.hpp"
 
 namespace wolf
 {