diff --git a/src/processor_base.cpp b/src/processor_base.cpp
index a42bfab7ecf93a02336183e09cb564a8810896f8..fd8c518dd3bf91b18c2c0c1b304fca898781cc0f 100644
--- a/src/processor_base.cpp
+++ b/src/processor_base.cpp
@@ -45,7 +45,7 @@ FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _captur
     return new_frame_ptr;
 }
 
-void ProcessorBase::keyFrameCallbackNew(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
+void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
 {
     if (_keyframe_ptr != nullptr)
         kf_pack_buffer_.add(_keyframe_ptr,_time_tol_other);
diff --git a/src/processor_base.h b/src/processor_base.h
index 03b811b61fb3ca97b5a5b1810fba93ee44453330..997db66eb307bce86d5a4f277fed4bc64b19339d 100644
--- a/src/processor_base.h
+++ b/src/processor_base.h
@@ -162,9 +162,9 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
          */
         FrameBasePtr emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state);
 
-        virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) = 0;
+//        virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) = 0;
 
-        void keyFrameCallbackNew(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
+        void keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
 
         SensorBasePtr getSensorPtr();
         const SensorBasePtr getSensorPtr() const;
diff --git a/src/processor_tracker.cpp b/src/processor_tracker.cpp
index 55992602cd63e6c9e562921a2109189d5e00b0e1..cb485a1b69d4987e2caa2472a4e4f1bc4f2fbcef 100644
--- a/src/processor_tracker.cpp
+++ b/src/processor_tracker.cpp
@@ -346,9 +346,9 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
     //std::cout << "-----End of process():" << std::endl;
 }
 
-bool ProcessorTracker::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
-{
-    WOLF_TRACE("This callback doing nothing!!! ");
+//bool ProcessorTracker::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
+//{
+//    WOLF_TRACE("This callback doing nothing!!! ");
 //    WOLF_DEBUG( "PT: KF" , _keyframe_ptr->id() , " callback received at ts= " , _keyframe_ptr->getTimeStamp().get() );
 //
 //    assert((last_ptr_ == nullptr || last_ptr_->getFramePtr() != nullptr) && "ProcessorTracker::keyFrameCallback: last_ptr_ must have a frame always");
diff --git a/src/processor_tracker.h b/src/processor_tracker.h
index 00ba42583ec6e8ca325c46a1fcea7cd6cf0ffdea..d69da83d84a10229296e31787405e3646667f133 100644
--- a/src/processor_tracker.h
+++ b/src/processor_tracker.h
@@ -99,7 +99,7 @@ class ProcessorTracker : public ProcessorBase
         void setMaxNewFeatures(const unsigned int& _max_new_features);
         unsigned int getMaxNewFeatures();
 
-        virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
+//        virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
 
         bool checkTimeTolerance(const TimeStamp& _ts1, const TimeStamp& _ts2);
         bool checkTimeTolerance(const CaptureBasePtr _cap, const TimeStamp& _ts);