diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 91867f39528b54cc7335fcca91e7fcc108757576..2e03aaafb52183adfd1843da41e0ca4ed3b49b3e 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -83,8 +83,8 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
 
             FrameBasePtr kfrm = FrameBase::emplaceKeyFrame<FrameBase>(getProblem()->getTrajectory(),
                                                                       incoming_ptr_->getTimeStamp(),
-                                                                      getStateStructure(),
-                                                                      getProblem()->getState(getStateStructure()));
+                                                                      getProblem()->getFrameStructure(),
+                                                                      getProblem()->getState());
             incoming_ptr_->link(kfrm);
 
             // Process info