diff --git a/AutonomousMode/CMakeLists.txt b/AutonomousMode/CMakeLists.txt
index 8ca822e..7277288 100644
--- a/AutonomousMode/CMakeLists.txt
+++ b/AutonomousMode/CMakeLists.txt
@@ -9,23 +9,6 @@ set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_package( OpenCV REQUIRED )
 find_package(Threads REQUIRED)
 
-include_directories( ${OpenCV_INCLUDE_DIRS}
-    ${CMAKE_CURRENT_SOURCE_DIR}/Input 
-    ${CMAKE_CURRENT_SOURCE_DIR}/Processing
-    ${CMAKE_CURRENT_SOURCE_DIR}/ControlModule
-    ${CMAKE_CURRENT_SOURCE_DIR}/Interpreter
-    ${CMAKE_CURRENT_SOURCE_DIR}/IntersectionHandler
-    ${CMAKE_CURRENT_SOURCE_DIR}/Utils
-)
-
-link_directories( ${Input_SOURCE_DIRS} 
-    ${Processing_SOURCE_DIRS}
-    ${ControlModule_SOURCE_DIRS}
-    ${Interpreter_SOURCE_DIRS}
-    ${IntersectionHandler_SOURCE_DIRS}
-    ${Utils_SOURCE_DIRS}
-)
-
 add_subdirectory(Input)
 add_subdirectory(Processing)
 add_subdirectory(ControlModule)
@@ -34,16 +17,28 @@ add_subdirectory(IntersectionHandler)
 add_subdirectory(Utils)
 add_subdirectory(Spielwiese)
 
-target_include_directories(Input PRIVATE .)
-target_include_directories(Processing PRIVATE .)
-target_include_directories(ControlModule PRIVATE .)
-target_include_directories(Interpreter PRIVATE .)
-target_include_directories(IntersectionHandler PRIVATE .)
-target_include_directories(Utils PRIVATE .)
-
 add_executable(lfr_image_processing lfr.cpp autonomous_mode_main.cpp)
+add_library(lfr_image_processing_lib lfr.cpp)
+
+target_include_directories(lfr_image_processing PUBLIC ${OpenCV_INCLUDE_DIRS})
+target_include_directories(lfr_image_processing PUBLIC ${Input_SOURCE_DIRS})
+target_include_directories(lfr_image_processing PUBLIC ${Processing_SOURCE_DIRS})
+target_include_directories(lfr_image_processing PUBLIC ${ControlModule_SOURCE_DIRS})
+target_include_directories(lfr_image_processing PUBLIC ${Interpreter_SOURCE_DIRS})
+target_include_directories(lfr_image_processing PUBLIC ${IntersectionHandler_SOURCE_DIRS})
+target_include_directories(lfr_image_processing PUBLIC ${Utils_SOURCE_DIRS})
+target_include_directories(lfr_image_processing PUBLIC .)
+
+target_include_directories(lfr_image_processing_lib PUBLIC ${OpenCV_INCLUDE_DIRS})
+target_include_directories(lfr_image_processing_lib PUBLIC ${Input_SOURCE_DIRS})
+target_include_directories(lfr_image_processing_lib PUBLIC ${Processing_SOURCE_DIRS})
+target_include_directories(lfr_image_processing_lib PUBLIC ${ControlModule_SOURCE_DIRS})
+target_include_directories(lfr_image_processing_lib PUBLIC ${Interpreter_SOURCE_DIRS})
+target_include_directories(lfr_image_processing_lib PUBLIC ${IntersectionHandler_SOURCE_DIRS})
+target_include_directories(lfr_image_processing_lib PUBLIC .)
 
 target_link_libraries( lfr_image_processing ${OpenCV_LIBS} Input Processing ControlModule Interpreter IntersectionHandler Utils Threads::Threads)
+target_link_libraries( lfr_image_processing_lib ${OpenCV_LIBS} Input Processing ControlModule Interpreter IntersectionHandler Utils Threads::Threads)
 
 set(CPACK_PROJECT_NAME ${PROJECT_NAME})
 set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
diff --git a/AutonomousMode/ControlModule/CMakeLists.txt b/AutonomousMode/ControlModule/CMakeLists.txt
index c876c19..ea8a013 100644
--- a/AutonomousMode/ControlModule/CMakeLists.txt
+++ b/AutonomousMode/ControlModule/CMakeLists.txt
@@ -1,10 +1,8 @@
-include_directories( ${Utils_SOURCE_DIRS})
-link_directories(${Utils_SOURCE_DIRS})
-
 add_library(ControlModule control_module.cpp)
 set_target_properties(ControlModule PROPERTIES VERSION ${PROJECT_VERSION})
-target_include_directories(ControlModule PRIVATE .)
 
+target_include_directories(ControlModule PRIVATE ${Utils_SOURCE_DIRS})
+target_include_directories(ControlModule PUBLIC .)
 target_link_libraries( ControlModule Utils)
 
 set(CPACK_PROJECT_NAME ${PROJECT_NAME})
diff --git a/AutonomousMode/Input/CMakeLists.txt b/AutonomousMode/Input/CMakeLists.txt
index 0a710a1..18b9fad 100644
--- a/AutonomousMode/Input/CMakeLists.txt
+++ b/AutonomousMode/Input/CMakeLists.txt
@@ -1,12 +1,10 @@
 find_package( OpenCV REQUIRED )
-include_directories( ${OpenCV_INCLUDE_DIRS} ${Utils_SOURCE_DIRS})
-
-link_directories(${Utils_SOURCE_DIRS})
 
 add_library(Input input.cpp)
 set_target_properties(Input PROPERTIES VERSION ${PROJECT_VERSION})
-target_include_directories(Input PRIVATE .)
 
+target_include_directories(Input PRIVATE ${OpenCV_INCLUDE_DIRS} ${Utils_SOURCE_DIRS})
+target_include_directories(Input PUBLIC .)
 target_link_libraries( Input ${OpenCV_LIBS} Utils)
 
 set(CPACK_PROJECT_NAME ${PROJECT_NAME})
diff --git a/AutonomousMode/Interpreter/CMakeLists.txt b/AutonomousMode/Interpreter/CMakeLists.txt
index b06fa62..07b16d1 100644
--- a/AutonomousMode/Interpreter/CMakeLists.txt
+++ b/AutonomousMode/Interpreter/CMakeLists.txt
@@ -1,10 +1,8 @@
-include_directories( ${Utils_SOURCE_DIRS})
-link_directories(${Utils_SOURCE_DIRS})
-
 add_library(Interpreter interpreter.cpp)
 set_target_properties(Interpreter PROPERTIES VERSION ${PROJECT_VERSION})
-target_include_directories(Interpreter PRIVATE .)
 
+target_include_directories(Interpreter PRIVATE ${Utils_SOURCE_DIRS})
+target_include_directories(Interpreter PUBLIC .)
 target_link_libraries( Interpreter Utils)
 
 set(CPACK_PROJECT_NAME ${PROJECT_NAME})
diff --git a/AutonomousMode/IntersectionHandler/CMakeLists.txt b/AutonomousMode/IntersectionHandler/CMakeLists.txt
index 7893a16..5478051 100644
--- a/AutonomousMode/IntersectionHandler/CMakeLists.txt
+++ b/AutonomousMode/IntersectionHandler/CMakeLists.txt
@@ -1,10 +1,9 @@
-include_directories( ${Utils_SOURCE_DIRS})
-link_directories(${Utils_SOURCE_DIRS})
-
 add_library(IntersectionHandler intersection_handler.cpp)
 set_target_properties(IntersectionHandler PROPERTIES VERSION ${PROJECT_VERSION})
-target_include_directories(IntersectionHandler PRIVATE .)
 
+#target_include_directories(IntersectionHandler PRIVATE ${Utils_SOURCE_DIRS})
+target_include_directories(IntersectionHandler PRIVATE ${Utils_SOURCE_DIRS})
+target_include_directories(IntersectionHandler PUBLIC .)
 target_link_libraries( IntersectionHandler Utils)
 
 set(CPACK_PROJECT_NAME ${PROJECT_NAME})
diff --git a/AutonomousMode/Processing/CMakeLists.txt b/AutonomousMode/Processing/CMakeLists.txt
index 4b78f56..71df54a 100644
--- a/AutonomousMode/Processing/CMakeLists.txt
+++ b/AutonomousMode/Processing/CMakeLists.txt
@@ -1,13 +1,11 @@
 find_package( OpenCV REQUIRED )
-include_directories( ${OpenCV_INCLUDE_DIRS} )
-include_directories( ${Utils_SOURCE_DIRS})
-
-link_directories(${Utils_SOURCE_DIRS})
 
 add_library(Processing processing.cpp)
 set_target_properties(Processing PROPERTIES VERSION ${PROJECT_VERSION})
-target_include_directories(Processing PRIVATE .)
 
+target_include_directories(Processing PRIVATE ${Utils_INCLUDE_DIRS})
+target_include_directories(Processing PRIVATE ${OpenCV_INCLUDE_DIRS})
+target_include_directories(Processing PUBLIC .)
 target_link_libraries( Processing ${OpenCV_LIBS} Utils)
 
 set(CPACK_PROJECT_NAME ${PROJECT_NAME})
diff --git a/AutonomousMode/Utils/CMakeLists.txt b/AutonomousMode/Utils/CMakeLists.txt
index d4b930f..196ca0d 100644
--- a/AutonomousMode/Utils/CMakeLists.txt
+++ b/AutonomousMode/Utils/CMakeLists.txt
@@ -1,12 +1,13 @@
 find_package( OpenCV REQUIRED )
-include_directories( ${OpenCV_INCLUDE_DIRS} )
 
-add_library(Utils utils.cpp)
+add_library(Utils SHARED utils.cpp)
 set_target_properties(Utils PROPERTIES VERSION ${PROJECT_VERSION})
-target_include_directories(Utils PRIVATE .)
 
+target_include_directories(Utils PRIVATE ${OpenCV_INCLUDE_DIRS})
+target_include_directories(Utils PUBLIC .)
 target_link_libraries( Utils ${OpenCV_LIBS} )
 
 set(CPACK_PROJECT_NAME ${PROJECT_NAME})
 set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
+set (UTILS_SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR})
 include(CPack)
\ No newline at end of file