diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 0ed2f43878b55a39b6d2aa98dfaeeb991dad05f1..bf44bb4a94fcd0d498b7b64ac8e4ec32c84b3827 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -418,6 +418,8 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
          *
          */
 
+        // Set the capture's calibration with best results available (in case origin_ptr_ received a solve())
+        setCalibration(last_ptr_, getCalibration(origin_ptr_));
 
         // Set the frame of last_ptr as key
         auto key_frame      = last_ptr_->getFrame();
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 46456daaf164c9a6cbb0a3d38dac1ac2be4b6e16..9e7adfd0b99009c41345826e6a3b8ad866e70957 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -263,7 +263,7 @@ CaptureBasePtr SensorBase::findLastCaptureBefore(const TimeStamp& _ts) const
     TrajectoryRevIter frame_rev_it = trajectory->rbegin();
     while (frame_rev_it != trajectory->rend())
     {
-        if ((*frame_rev_it)->getTimeStamp() <= _ts + Constants::EPS)
+        if ((*frame_rev_it)->getTimeStamp() <= _ts)
         {
             auto capture = (*frame_rev_it)->getCaptureOf(shared_from_this());
             if (capture)