diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index 22beb90dd2dfc14aa78728149cdd387729a711db..95d2b8d5c945d4a16a555dbea78491f8bbfef8e5 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -97,8 +97,6 @@ class CaptureMotion : public CaptureBase
         virtual VectorXs correctDelta(const VectorXs& _delta, const VectorXs& _delta_error) const;
 
         // Origin frame and capture
-        FrameBasePtr getOriginFrame();
-        void setOriginFrame(FrameBasePtr _frame_ptr);
         CaptureBasePtr getOriginCapture();
         void setOriginCapture(CaptureBasePtr _origin_capture);
 
@@ -108,7 +106,6 @@ class CaptureMotion : public CaptureBase
         Eigen::MatrixXs data_cov_;          ///< Motion data covariance
         Eigen::VectorXs calib_preint_;      ///< Calibration parameters used during pre-integration
         MotionBuffer buffer_;               ///< Buffer of motions between this Capture and the next one.
-//        FrameBaseWPtr origin_frame_ptr_;    ///< Pointer to the origin frame of the motion
         CaptureBaseWPtr origin_capture_;    ///< Pointer to the origin capture of the motion
 };
 
@@ -161,18 +158,6 @@ inline Eigen::VectorXs CaptureMotion::correctDelta(const VectorXs& _delta, const
     return _delta + _delta_error;
 }
 
-inline FrameBasePtr CaptureMotion::getOriginFrame()
-{
-    return getOriginCapture()->getFrame();
-}
-
-inline void CaptureMotion::setOriginFrame(FrameBasePtr _frame_ptr)
-{
-    auto sensor = getSensor();
-    if (_frame_ptr && sensor)
-        origin_capture_ = _frame_ptr->getCaptureOf(sensor);
-}
-
 inline wolf::CaptureBasePtr CaptureMotion::getOriginCapture()
 {
     return origin_capture_.lock();
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index d077e156dcaa869b231a44dca924732e60899531..4e381ca5db3127a47256f20f5ce80f40631fdd2c 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -348,8 +348,8 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
     if (capture_motion)  // We found a CaptureMotion whose buffer contains the time stamp
     {
         // Get origin state and calibration
-        VectorXs state_0          = capture_motion->getOriginFrame()->getState();
         CaptureBasePtr cap_orig   = capture_motion->getOriginCapture();
+        VectorXs state_0          = cap_orig->getFrame()->getState();
         VectorXs calib            = cap_orig->getCalibration();
 
         // Get delta and correct it with new calibration params