diff --git a/src/problem.cpp b/src/problem.cpp
index 513cc64c2c4628b26eb6cda6eb63d55a08164063..8c639c114c44031bfcb73a7dadd915b296ec43fb 100644
--- a/src/problem.cpp
+++ b/src/problem.cpp
@@ -613,7 +613,7 @@ FrameBasePtr Problem::setPrior(const Eigen::VectorXs& _prior_state, const Eigen:
         // Capture fix only takes 3D position and Quaternion orientation
         CaptureFixPtr init_capture;
         if (trajectory_ptr_->getFrameStructure() == "POV 3D")
-            init_capture = std::make_shared<CaptureFix>(_ts, nullptr, _prior_state.head(7), _prior_cov);
+            init_capture = std::make_shared<CaptureFix>(_ts, nullptr, _prior_state.head(7), _prior_cov.topLeftCorner(6,6));
         else
             init_capture = std::make_shared<CaptureFix>(_ts, nullptr, _prior_state, _prior_cov);