diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..1e7c8d3
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,35 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+build
+install
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9541cd7..be4998c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,19 +1,17 @@
 # ----------------------------------------------------------------------------
 #   Basic Configuration
 # ----------------------------------------------------------------------------
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.15)
 
 set(CMAKE_CXX_STANDARD 11)
 
-PROJECT(DBoW3)
-set(PROJECT_VERSION "0.0.1")
-string(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
-list(GET PROJECT_VERSION_PARTS 0 PROJECT_VERSION_MAJOR)
-list(GET PROJECT_VERSION_PARTS 1 PROJECT_VERSION_MINOR)
-list(GET PROJECT_VERSION_PARTS 2 PROJECT_VERSION_PATCH)
+
+PROJECT(DBoW3 VERSION 0.0.1)
 set(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
 
-message("LIB_INSTALL_DIR: ${LIB_INSTALL_DIR}")
+# set(CMAKE_INSTALL_PREFIX "${PROJECT_SOURCE_DIR}/install" CACHE PATH "Install path prefix, prepended onto install directories." FORCE)
+set(LIB_INSTALL_DIR CMAKE_INSTALL_PREFIX)
+message(STATUS "LIB_INSTALL_DIR: ${LIB_INSTALL_DIR}")
 
 #------------------------------------------------------
 # Build type
@@ -40,9 +38,6 @@ else()
     SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}/cmake/ /usr/${LIB_INSTALL_DIR}/cmake )
 endif()
 
-
-
-#
 OPTION(BUILD_UTILS	"Set to OFF to not build utils" ON)
 OPTION(USE_CONTRIB 	"Set to ON if contrib are installed" OFF)
 OPTION(BUILD_SHARED_LIBS 	"Set to OFF to build static libraries" ON)
@@ -54,12 +49,15 @@ find_package(OpenCV  REQUIRED)
 IF(USE_CONTRIB)
 add_definitions(-DUSE_CONTRIB)
 ENDIF()
-if(NOT OpenCV_VERSION VERSION_LESS "3.0")
-    ADD_DEFINITIONS(-DOPENCV_VERSION_3)
-    SET(OPENCV_VERSION_3 ON)
-ELSE()
-    SET(OPENCV_VERSION_3 OFF)
-ENDIF()
+
+ADD_DEFINITIONS(-DOPENCV_VERSION_3)
+SET(OPENCV_VERSION_3 ON)
+# if(NOT OpenCV_VERSION VERSION_LESS "3.0")
+#     ADD_DEFINITIONS(-DOPENCV_VERSION_3)
+#     SET(OPENCV_VERSION_3 ON)
+# ELSE()
+#     SET(OPENCV_VERSION_3 OFF)
+# ENDIF()
 
 include_directories(${OpenCV_INCLUDE_DIRS})
 
@@ -76,24 +74,6 @@ IF (INSTALL_DOC)
     INCLUDE("${PROJECT_SOURCE_DIR}/generateDoc.cmake")
     GENERATE_DOCUMENTATION(${PROJECT_SOURCE_DIR}/dox.in)
 ENDIF()
- 
-# ----------------------------------------------------------------------------
-#   Uninstall target, for "make uninstall"
-# ----------------------------------------------------------------------------
-CONFIGURE_FILE( "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
-ADD_CUSTOM_TARGET(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
-
-# ----------------------------------------------------------------------------
-# create configuration file from .in file (If you use windows take care with paths)
-# ----------------------------------------------------------------------------
-
-CONFIGURE_FILE("${PROJECT_SOURCE_DIR}/config.cmake.in" "${PROJECT_BINARY_DIR}/Find${PROJECT_NAME}.cmake")
-CONFIGURE_FILE("${PROJECT_SOURCE_DIR}/config.cmake.in" "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
-INSTALL(FILES "${PROJECT_BINARY_DIR}/Find${PROJECT_NAME}.cmake" DESTINATION ${LIB_INSTALL_DIR}/cmake/ )
-INSTALL(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" DESTINATION ${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME} )
-
-
-
 
 # ----------------------------------------------------------------------------
 #   Program Optimization and debug (Extracted from OpenCV)
@@ -206,8 +186,6 @@ ELSE()  # MSVC
 ENDIF()#END OF COMPILER SPECIFIC OPTIONS
 SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS} ${EXTRA_C_FLAGS_RELEASE}")
 SET(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS}  ${EXTRA_C_FLAGS_DEBUG}")
-SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -std=c++11")
-SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -std=c++11")
 set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELEASE} ${CMAKE_C_FLAGS_DEBUG}")
 set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
 SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${EXTRA_EXE_LINKER_FLAGS}")
@@ -228,6 +206,37 @@ IF (BUILD_TESTS)
 ADD_SUBDIRECTORY(tests)
 ENDIF()
 
+# ----------------------------------------------------------------------------
+# generate the config file that is includes the exports
+# ----------------------------------------------------------------------------
+
+include(CMakePackageConfigHelpers)
+write_basic_package_version_file(
+  ${PROJECT_NAME}ConfigVersion.cmake
+  VERSION
+  ${PROJECT_VERSION}
+  COMPATIBILITY
+  SameMajorVersion
+)
+configure_package_config_file(
+  ${CMAKE_CURRENT_LIST_DIR}/cmake/${PROJECT_NAME}Config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
+  INSTALL_DESTINATION
+  ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
+)
+install(
+  FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
+  DESTINATION
+  ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
+)
+
+# ----------------------------------------------------------------------------
+#   Uninstall target, for "make uninstall"
+# ----------------------------------------------------------------------------
+CONFIGURE_FILE( "cmake/cmake_uninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
+ADD_CUSTOM_TARGET(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
 
 # ----------------------------------------------------------------------------
 # display status message for important variables
diff --git a/cmake/DBoW3Config.cmake.in b/cmake/DBoW3Config.cmake.in
new file mode 100644
index 0000000..4607349
--- /dev/null
+++ b/cmake/DBoW3Config.cmake.in
@@ -0,0 +1,10 @@
+set(@PROJECT_NAME@_VERSION @PROJECT_VERSION@)
+
+@PACKAGE_INIT@
+
+set_and_check(@PROJECT_NAME@_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}/../../../include")
+cmake_path(SET @PROJECT_NAME@_INCLUDE_DIR NORMALIZE "${@PROJECT_NAME@_INCLUDE_DIR}")
+
+include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
+
+check_required_components(@PROJECT_NAME@)
diff --git a/cmake_uninstall.cmake.in b/cmake/cmake_uninstall.cmake.in
similarity index 100%
rename from cmake_uninstall.cmake.in
rename to cmake/cmake_uninstall.cmake.in
diff --git a/src/BowVector.h b/src/BowVector.h
index d8c17e0..7340e0e 100644
--- a/src/BowVector.h
+++ b/src/BowVector.h
@@ -12,6 +12,9 @@
 
 #include <map>
 #include <vector>
+#include <string>
+#include <iostream>
+
 #include "exports.h"
 #if _WIN32
 #include <cstdint>
@@ -60,7 +63,7 @@ class DBOW_API BowVector:
 {
 public:
 
-	/** 
+	/**
 	 * Constructor
 	 */
 	BowVector(void);
@@ -69,7 +72,7 @@ class DBOW_API BowVector:
 	 * Destructor
 	 */
 	~BowVector(void);
-	
+
 	/**
 	 * Adds a value to a word value existing in the vector, or creates a new
 	 * word with the given value
@@ -77,7 +80,7 @@ class DBOW_API BowVector:
 	 * @param v value to create the word with, or to add to existing word
 	 */
 	void addWeight(WordId id, WordValue v);
-	
+
 	/**
 	 * Adds a word with a value to the vector only if this does not exist yet
 	 * @param id word id to look for
@@ -86,18 +89,18 @@ class DBOW_API BowVector:
 	void addIfNotExist(WordId id, WordValue v);
 
 	/**
-	 * L1-Normalizes the values in the vector 
+	 * L1-Normalizes the values in the vector
 	 * @param norm_type norm used
 	 */
 	void normalize(LNorm norm_type);
-	
+
 	/**
 	 * Prints the content of the bow vector
 	 * @param out stream
 	 * @param v
 	 */
 	friend std::ostream& operator<<(std::ostream &out, const BowVector &v);
-	
+
 	/**
 	 * Saves the bow vector as a vector in a matlab file
 	 * @param filename
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a9c52b4..dbcd010 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -8,28 +8,58 @@ FILE(GLOB srcs  ${srcs_base} )
 
 
 ADD_LIBRARY(${PROJECT_NAME} ${srcs} ${hdrs})
-INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR} ) 
+INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR} )
 
 SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES 				# create *nix style library versions + symbolic links
-        DEFINE_SYMBOL DBOW_DSO_EXPORTS
+	DEFINE_SYMBOL DBOW_DSO_EXPORTS
 	VERSION ${PROJECT_VERSION}
 	SOVERSION ${PROJECT_SOVERSION}
 	CLEAN_DIRECT_OUTPUT 1 					# allow creating static and shared libs without conflicts
-	OUTPUT_NAME "${PROJECT_NAME}${PROJECT_DLLVERSION}" 	# avoid conflicts between library and binary target names
+	OUTPUT_NAME "${PROJECT_NAME}${PROJECT_DLLVERSION}"
+	DEBUG_POSTFIX "d"	# avoid conflicts between library and binary target names
 )
 
 TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${REQUIRED_LIBRARIES} )
 
-INSTALL(TARGETS ${PROJECT_NAME}
-	RUNTIME DESTINATION bin COMPONENT main			# Install the dll file in bin directory
-	LIBRARY DESTINATION ${LIB_INSTALL_DIR} PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE COMPONENT main
-        ARCHIVE DESTINATION ${LIB_INSTALL_DIR} COMPONENT main)			# Install the dll.a file in lib directory
-
-
-
-INSTALL(FILES ${hdrs_base}
-        DESTINATION include/${PROJECT_NAME}
-        COMPONENT main)
+target_include_directories(
+    ${PROJECT_NAME}
+    PUBLIC
+    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/src>
+)
 
+include(GNUInstallDirs)
+install(
+	TARGETS
+	${PROJECT_NAME}
+	EXPORT
+	${PROJECT_NAME}Targets
+	LIBRARY DESTINATION
+	${CMAKE_INSTALL_LIBDIR}
+	RUNTIME DESTINATION
+	${CMAKE_INSTALL_BINDIR}
+	ARCHIVE DESTINATION
+	${CMAKE_INSTALL_LIBDIR}
+	INCLUDES DESTINATION
+	include
+	PUBLIC_HEADER DESTINATION
+	include
+)
 
+install(
+	EXPORT
+	${PROJECT_NAME}Targets
+	FILE
+	${PROJECT_NAME}Targets.cmake
+	NAMESPACE
+	${PROJECT_NAME}::
+	DESTINATION
+	${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
+)
 
+install(
+  FILES
+  ${hdrs_base}
+  DESTINATION
+  include/${PROJECT_NAME}
+)
\ No newline at end of file
diff --git a/src/FeatureVector.h b/src/FeatureVector.h
index f06bc1e..5e1db5d 100644
--- a/src/FeatureVector.h
+++ b/src/FeatureVector.h
@@ -11,8 +11,12 @@
 #define __D_T_FEATURE_VECTOR__
 
 #include "BowVector.h"
+
 #include <map>
 #include <vector>
+#include <string>
+#include <iostream>
+
 #include "exports.h"
 namespace DBoW3 {
 
@@ -26,12 +30,12 @@ class  DBOW_API FeatureVector:
    * Constructor
    */
   FeatureVector(void);
-  
+
   /**
    * Destructor
    */
   ~FeatureVector(void);
-  
+
   /**
    * Adds a feature to an existing node, or adds a new node with an initial
    * feature
@@ -46,7 +50,7 @@ class  DBOW_API FeatureVector:
    * @param v feature vector
    */
   friend std::ostream& operator<<(std::ostream &out, const FeatureVector &v);
-    
+
 };
 
 } // namespace DBoW3