diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 9adb719715a0188f8c55a50d5d4443b92f829645..152595422b16a653d70bfa7600d6fe0a62b305b0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -207,7 +207,7 @@ SET(HDRS_BASE
     map_base.h
     motion_buffer.h
     node_base.h
-    pinholeTools.h
+    pinhole_tools.h
     problem.h
     processor_base.h
     processor_capture_holder.h
diff --git a/src/constraint_AHP.h b/src/constraint_AHP.h
index d70ddd065cff349169ba5550cd873c7ded081cd4..6cd28295eaff3e86c72ee6f3cd679e1430dbf92e 100644
--- a/src/constraint_AHP.h
+++ b/src/constraint_AHP.h
@@ -5,8 +5,8 @@
 #include "constraint_autodiff.h"
 #include "landmark_AHP.h"
 #include "sensor_camera.h"
-#include "pinholeTools.h"
 #include "feature_point_image.h"
+#include "pinhole_tools.h"
 
 #include <iomanip> //setprecision
 
diff --git a/src/examples/test_constraint_AHP.cpp b/src/examples/test_constraint_AHP.cpp
index 91a2ba19e7f3aae58cbefca746a9dc4f9fcd8641..edc6cdd44cd4f49029db8f64baa9806263f35b17 100644
--- a/src/examples/test_constraint_AHP.cpp
+++ b/src/examples/test_constraint_AHP.cpp
@@ -1,10 +1,10 @@
+#include "pinhole_tools.h"
 #include "landmark_AHP.h"
 #include "constraint_AHP.h"
 #include "state_block.h"
 #include "state_quaternion.h"
 #include "sensor_camera.h"
 #include "capture_image.h"
-#include "pinholeTools.h"
 
 int main()
 {
diff --git a/src/examples/test_projection_points.cpp b/src/examples/test_projection_points.cpp
index 9033c44975f1b9fa0b01797fd9f93a4053466a1d..fd22caf16d18077f38e0ca764c3ddd5985fe2ffb 100644
--- a/src/examples/test_projection_points.cpp
+++ b/src/examples/test_projection_points.cpp
@@ -7,7 +7,7 @@
 #include <iostream>
 
 //wolf includes
-#include "pinholeTools.h"
+#include "pinhole_tools.h"
 
 
 int main(int argc, char** argv)
diff --git a/src/examples/test_simple_AHP.cpp b/src/examples/test_simple_AHP.cpp
index 7429435a6c824eb5536b8b1834b08c8caeb9f4f0..8c9a029a9e76847f0253f2cf1d2a467ddec67e80 100644
--- a/src/examples/test_simple_AHP.cpp
+++ b/src/examples/test_simple_AHP.cpp
@@ -7,8 +7,8 @@
 
 #include "wolf.h"
 #include "frame_base.h"
+#include "pinhole_tools.h"
 #include "sensor_camera.h"
-#include "pinholeTools.h"
 #include "rotations.h"
 #include "capture_image.h"
 #include "landmark_AHP.h"
diff --git a/src/examples/test_yaml.cpp b/src/examples/test_yaml.cpp
index 5b4f9f553fb4f0bb86a91a3947a4511270f59100..217a5adac8014149dae9acd6dc32b8069562aa9f 100644
--- a/src/examples/test_yaml.cpp
+++ b/src/examples/test_yaml.cpp
@@ -5,7 +5,7 @@
  *      \author: jsola
  */
 
-#include "pinholeTools.h"
+#include "pinhole_tools.h"
 #include "yaml/yaml_conversion.h"
 #include "processor_image_feature.h"
 #include "factory.h"
diff --git a/src/pinholeTools.h b/src/pinhole_tools.h
similarity index 99%
rename from src/pinholeTools.h
rename to src/pinhole_tools.h
index eb87340753e412d6b3598898d39ef8b62d45e2f9..bfb649787c5bb033dee630a0055338e7c97c3ab9 100644
--- a/src/pinholeTools.h
+++ b/src/pinhole_tools.h
@@ -2,7 +2,7 @@
 #define PINHOLETOOLS_H
 
 /**
- * \file pinholeTools.h
+ * \file pinhole_tools.h
  *
  * \date 06/04/2010
  * \author jsola
diff --git a/src/processor_image_landmark.cpp b/src/processor_image_landmark.cpp
index e9bd3cff8e0109f9e1152f27f46249cf919bcec2..7429f8b2f90b15decf94460422762532d2967bb9 100644
--- a/src/processor_image_landmark.cpp
+++ b/src/processor_image_landmark.cpp
@@ -1,11 +1,11 @@
 #include "processor_image_landmark.h"
+#include "pinhole_tools.h"
 
 #include "landmark_corner_2D.h"
 #include "landmark_AHP.h"
 #include "constraint_corner_2D.h"
 #include "constraint_AHP.h"
 #include "sensor_camera.h"
-#include "pinholeTools.h"
 #include "trajectory_base.h"
 #include "map_base.h"
 
diff --git a/src/sensor_camera.cpp b/src/sensor_camera.cpp
index 79e6ae700af7062fc2926027cae76b5192877813..36e6c9ad53f3d19c37560eeb9a756398acbab736 100644
--- a/src/sensor_camera.cpp
+++ b/src/sensor_camera.cpp
@@ -1,7 +1,8 @@
 #include "sensor_camera.h"
+
+#include "pinhole_tools.h"
 #include "state_block.h"
 #include "state_quaternion.h"
-#include "pinholeTools.h"
 
 namespace wolf
 {
diff --git a/src/test/gtest_pinhole.cpp b/src/test/gtest_pinhole.cpp
index 68b951c00abed88eec483400b3a2c5e0653c5507..b46e682ab406df2db2f84a23c72f9669e777df8c 100644
--- a/src/test/gtest_pinhole.cpp
+++ b/src/test/gtest_pinhole.cpp
@@ -5,9 +5,9 @@
  *      Author: jsola
  */
 
+#include "pinhole_tools.h"
 #include "utils_gtest.h"
 
-#include "../pinholeTools.h"
 
 using namespace Eigen;
 using namespace wolf;