diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 633a98022487b5f54cfc93d27e2ac3018ecaea6d..432ba0d87cc0b4be1f4b5c04ed98e0b9e3f96aa9 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -226,13 +226,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
         // reset the new buffer
         new_capture_ptr->getBuffer().get().push_back( motionZero(key_frame_ptr->getTimeStamp()) ) ;
 
-        // reset integrals
-        delta_                  = deltaZero();
-        delta_cov_              . setZero();
-        delta_integrated_       = deltaZero();
-        delta_integrated_cov_   . setZero();
-        jacobian_calib_         . setZero();
-
         // reset derived things
         resetDerived();
 
@@ -334,13 +327,6 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
     // clear and reset buffer
     getBuffer().get().push_back(motionZero(_origin_frame->getTimeStamp()));
 
-    // Reset integrals
-    delta_                  = deltaZero();
-    delta_cov_              . setZero();
-    delta_integrated_       = deltaZero();
-    delta_integrated_cov_   . setZero();
-    jacobian_calib_         . setZero();
-
     // Reset derived things
     resetDerived();
 }