diff --git a/test/gtest_feature_imu.cpp b/test/gtest_feature_imu.cpp
index a1e4a6efbbebdeae11d96f52683ac267a4e74072..bc87d0be0abc0c5118f772b106c7676c87f52642 100644
--- a/test/gtest_feature_imu.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -64,7 +64,7 @@ class FeatureImu_test : public testing::Test
                                      data_,
                                      Eigen::Matrix6d::Identity()*0.01,
                                      Eigen::Vector6d::Zero())->process();
-        origin_frame = problem->getTrajectory()->getFrameList().front();
+        origin_frame = problem->getTrajectory()->getFirstFrame();
 
     // Emplace one capture to store the Imu data arriving from (sensor / callback / file / etc.)
     // give the capture a big covariance, otherwise it will be so small that it won't pass following assertions
@@ -90,7 +90,7 @@ class FeatureImu_test : public testing::Test
     //emplace Frame
         ts          = problem->getTimeStamp();
         state_vec   = problem->getState().vector(problem->getFrameStructure());
-        last_frame  = problem->emplaceFrame(KEY, ts, state_vec);
+        last_frame  = problem->emplaceKeyFrame(ts, state_vec);
 
     //emplace a feature
         delta_preint            = processor_motion_ptr_->getMotion().delta_integr_;
diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp
index 7fcf66fc8273f27588131ce2e2c1b8642e634257..98695a245cd761d49733a4af2dd3658ee522fb9e 100644
--- a/test/gtest_imu.cpp
+++ b/test/gtest_imu.cpp
@@ -503,7 +503,7 @@ class Process_Factor_Imu : public testing::Test
         virtual void buildProblem()
         {
             // ===================================== SET KF in Wolf tree
-            FrameBasePtr KF = problem->emplaceFrame(KEY, t, x1_exact);
+            FrameBasePtr KF = problem->emplaceKeyFrame(t, x1_exact);
 
             // ===================================== Imu CALLBACK
             problem->keyFrameCallback(KF, nullptr, dt/2);
diff --git a/test/gtest_processor_imu.cpp b/test/gtest_processor_imu.cpp
index ce1ea5060895f9fdeff96d02efe6e5cb3650c3d0..d04e18cbc06050de3be8259d49b09f8f3bf933a1 100644
--- a/test/gtest_processor_imu.cpp
+++ b/test/gtest_processor_imu.cpp
@@ -176,9 +176,8 @@ TEST(ProcessorImu, voteForKeyFrame)
     /*There should be 3 frames :
         - 1 KeyFrame at origin
         - 1 keyframe created by process() in voteForKeyFrame() since conditions to create a keyframe are met
-        - 1 frame that would be used by future data
     */
-    ASSERT_EQ(problem->getTrajectory()->getFrameList().size(),(unsigned int) 3);
+    ASSERT_EQ(problem->getTrajectory()->getFrameList().size(),(unsigned int) 2);
 
     /* if max_time_span == 2,  Wolf tree should be