diff --git a/src/capture_base.h b/src/capture_base.h
index ff9e8605acdf4b67aeab2e4e1b56d3710dc9b2b7..3734edbd4ae14fcd9382076481dddab25c4e0810 100644
--- a/src/capture_base.h
+++ b/src/capture_base.h
@@ -83,12 +83,6 @@ class CaptureBase : public NodeLinked<FrameBase, FeatureBase>
          */
         virtual void process(); 
 
-        // TODO Move it to ProcessorX class()
-        //      Rename to computeFrameInitialGuess() ... for instance
-        //      Another name could be provideFrameInitialGuess();
-        //Should be virtual in ProcessorBase with an empty/error message
-        virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const {return Eigen::VectorXs::Zero(0);};
-
 };
 
 inline unsigned int CaptureBase::id()
diff --git a/src/capture_fix.cpp b/src/capture_fix.cpp
index 0d4561dbef6cd829eb8280b08ee8ac21b88a871e..11a26d39ec458dc24e6daa713b7fca3b8f977993 100644
--- a/src/capture_fix.cpp
+++ b/src/capture_fix.cpp
@@ -29,9 +29,5 @@ void CaptureFix::process()
     //std::cout << "ConstraintFix added " << std::endl;
 }
 
-Eigen::VectorXs CaptureFix::computeFramePose(const TimeStamp& _now) const
-{
-	return data_;
-}
 
 } // namespace wolf
diff --git a/src/capture_fix.h b/src/capture_fix.h
index 781a35c563e70ecf4ca842871c55bbd51cb7687b..adb776ef3683b86deb1ec645bea1591dcdfe4a56 100644
--- a/src/capture_fix.h
+++ b/src/capture_fix.h
@@ -32,7 +32,6 @@ class CaptureFix : public CaptureBase
 
         virtual void process();
 
-        virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const;
 };
 
 } //namespace wolf
diff --git a/src/capture_gps.cpp b/src/capture_gps.cpp
index e8a294e6f0db8ce7dad37c1d778417499e686342..fffc9e467087e80b261207da6b3f0d74c54b7018 100644
--- a/src/capture_gps.cpp
+++ b/src/capture_gps.cpp
@@ -23,12 +23,4 @@ rawgpsutils::SatellitesObs &CaptureGPS::getData()
 }
 
 
-/*
- * Dummy implementation of the method, only because it's pure virtual
- */
-Eigen::VectorXs CaptureGPS::computeFramePose(const TimeStamp &_now) const
-{
-    return Eigen::Vector3s(0, 0, 0);
-}
-
 } //namespace wolf
diff --git a/src/capture_gps.h b/src/capture_gps.h
index 5904e3706568b0ea3963bc22e995ffe6aa158547..f90122ab848ab4a18be238e71d5e06507177f1ea 100644
--- a/src/capture_gps.h
+++ b/src/capture_gps.h
@@ -27,10 +27,6 @@ public:
      **/
     virtual ~CaptureGPS();
 
-    /*
-     * Dummy implementation of the method, only because it's pure virtual
-     */
-    virtual Eigen::VectorXs computeFramePose(const TimeStamp &_now) const;
 
 };
 
diff --git a/src/capture_gps_fix.cpp b/src/capture_gps_fix.cpp
index 5e30b3a01700a1b57c589b83d5ff984ca248c5f7..faf5f8cb8dc726fd679c3bd6f6f909a086e5868f 100644
--- a/src/capture_gps_fix.cpp
+++ b/src/capture_gps_fix.cpp
@@ -32,14 +32,5 @@ void CaptureGPSFix::process()
 	getFeatureListPtr()->front()->addConstraint(new ConstraintGPS2D(getFeatureListPtr()->front(), getFramePtr()));
 }
 
-Eigen::VectorXs CaptureGPSFix::computeFramePose(const TimeStamp& _now) const
-{
-	return data_;
-}
-
-//void CaptureGPSFix::printSelf(unsigned int _ntabs, std::ostream & _ost) const
-//{
-//	return data_;
-//}
 
 } //namespace wolf
diff --git a/src/capture_gps_fix.h b/src/capture_gps_fix.h
index 65bb17e44f2c8d579cd5bd3fee23a559bce3654c..1198e0d29c4e536d678c5a2947d23bd3b34ee887 100644
--- a/src/capture_gps_fix.h
+++ b/src/capture_gps_fix.h
@@ -31,8 +31,6 @@ class CaptureGPSFix : public CaptureBase
 
         virtual void process();
 
-        virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const;
-
 };
 
 } //namespace wolf
diff --git a/src/capture_image.cpp b/src/capture_image.cpp
index cbb7b67d63650c01dbfa43e5f94e905f2dc8d9f1..4a39878c50868c6ff85abddbc8c45f9517f13f72 100644
--- a/src/capture_image.cpp
+++ b/src/capture_image.cpp
@@ -40,11 +40,4 @@ std::vector<cv::KeyPoint>& CaptureImage::getKeypoints()
 }
 
 
-
-// TODO: This needs to go out some day
-Eigen::VectorXs CaptureImage::computeFramePose(const TimeStamp& _now) const
-{
-    return Eigen::VectorXs::Zero(7);
-}
-
 } // namespace wolf
diff --git a/src/capture_image.h b/src/capture_image.h
index ea21600af3f5d5f41dfc5aa2ef19610d36e48acd..f62a042cba8faeb32f24d563c3f6d6bd349a66e7 100644
--- a/src/capture_image.h
+++ b/src/capture_image.h
@@ -43,12 +43,6 @@ class CaptureImage : public CaptureBase
         virtual std::vector<cv::KeyPoint>& getKeypoints();
 
 
-
-
-        // TODO: This needs to go out some day
-        virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const;
-
-
 };
 
 } // namespace wolf
diff --git a/src/capture_void.cpp b/src/capture_void.cpp
index 72b8741451abf50b89ab3081fc64419d051055d5..b601bf6fdb184d87f1f0aa67d83b0f1ce3ba944c 100644
--- a/src/capture_void.cpp
+++ b/src/capture_void.cpp
@@ -13,9 +13,5 @@ CaptureVoid::~CaptureVoid()
 	//std::cout << "deleting CaptureVoid " << nodeId() << std::endl;
 }
 
-Eigen::VectorXs CaptureVoid::computeFramePose(const TimeStamp& _now) const
-{
-    return Eigen::VectorXs::Zero(3);
-}
 
 } // namespace wolf
diff --git a/src/capture_void.h b/src/capture_void.h
index 8bf009ef58ee66b6ef91c24a6fe6f14ca559a232..63c7a5c4bd83284fb9eb93cf6e62629f40b1a34e 100644
--- a/src/capture_void.h
+++ b/src/capture_void.h
@@ -20,7 +20,6 @@ class CaptureVoid : public CaptureBase
          **/
         virtual ~CaptureVoid();
 
-        virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const;
 };
 
 } // namespace wolf