diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index ed3ab66dea59a5c604446bd962acbf4fc402da5b..82582470cb80c9042d5859a296059a6d55943990 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -30,8 +30,8 @@
 namespace wolf
 {
 ProcessorVisualOdometry::ProcessorVisualOdometry(const YAML::Node& _params)
-    : ProcessorTracker("ProcessorVisualOdometry", "PO", 3, _params),
-      MotionProvider(TypeComposite{{'P', "StatePoint3d"}, {'O', "StateQuaternion"}}, _params),
+    : ProcessorTracker("ProcessorVisualOdometry", {{'P', "StatePoint3d"}, {'O', "StateQuaternion"}}, _params),
+      MotionProvider({{'P', "StatePoint3d"}, {'O', "StateQuaternion"}}, _params),
       params_visual_odometry_(_params),
       debug_img_id_(1e6)
 {
diff --git a/test/gtest_factor_pixel_hp.cpp b/test/gtest_factor_pixel_hp.cpp
index dac54a93f0c9a12435e063ff45bcc02a5d9865a8..0aec50ed627025781f6235ff7fb89175b387d5e6 100644
--- a/test/gtest_factor_pixel_hp.cpp
+++ b/test/gtest_factor_pixel_hp.cpp
@@ -65,7 +65,7 @@ TEST(ProcessorFactorPixelHp, testZeroResidual)
         std::static_pointer_cast<SensorCamera>(problem->installSensor(params, {vision_dir, wolf_schema_dir}));
 
     // Frame
-    FrameBasePtr frm0 = problem->emplaceFrame(0.0, problem->stateZero());
+    FrameBasePtr frm0 = problem->emplaceFrame(0.0, problem->stateZero("PO"));
 
     // Capture
     auto cap0 = std::static_pointer_cast<CaptureImage>(
diff --git a/test/gtest_factor_pixel_point.cpp b/test/gtest_factor_pixel_point.cpp
index e1d5acadc207d3fe305317b5216600b6ab331a46..b0e9766e8703fa3cf24e5364dca0b92bcb63f4bf 100644
--- a/test/gtest_factor_pixel_point.cpp
+++ b/test/gtest_factor_pixel_point.cpp
@@ -65,7 +65,7 @@ TEST(ProcessorFactorPixelPoint, testZeroResidual)
         std::static_pointer_cast<SensorCamera>(problem->installSensor(params, {vision_dir, wolf_schema_dir}));
 
     // Frame
-    FrameBasePtr frm0 = problem->emplaceFrame(0.0, problem->stateZero());
+    FrameBasePtr frm0 = problem->emplaceFrame(0.0, problem->stateZero("PO"));
 
     // Capture
     auto cap0 = std::static_pointer_cast<CaptureImage>(