diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index 86331e5154e89f75d4cad0a03b71376bdfee5bf3..1a815041b3179026544065d9524519b1c1daab15 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -88,8 +88,6 @@ class CaptureMotion : public CaptureBase
         MatrixXd getJacobianCalib(const TimeStamp& _ts) const;
 
         // Get delta preintegrated, and corrected for changes on calibration params
-        VectorXd getDeltaCorrected(const VectorXd& _calib_current) const;
-        VectorXd getDeltaCorrected(const VectorXd& _calib_current, const TimeStamp& _ts) const;
         VectorXd getDeltaPreint() const;
         VectorXd getDeltaPreint(const TimeStamp& _ts) const;
         MatrixXd getDeltaPreintCov() const;
diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index d3bae98554c0d15257c19e04e7cfb9c11bb6d1b3..022d7a8187499bb353beaa915c97b87e6cc12a61 100644
--- a/src/capture/capture_motion.cpp
+++ b/src/capture/capture_motion.cpp
@@ -51,26 +51,6 @@ CaptureMotion::~CaptureMotion()
     //
 }
 
-Eigen::VectorXd CaptureMotion::getDeltaCorrected(const VectorXd& _calib_current) const
-{
-    VectorXd calib_preint    = getCalibrationPreint();
-    VectorXd delta_preint    = getBuffer().back().delta_integr_;
-    MatrixXd jac_calib       = getBuffer().back().jacobian_calib_;
-    VectorXd delta_error     = jac_calib * (_calib_current - calib_preint);
-    VectorXd delta_corrected = correctDelta(delta_preint, delta_error);
-    return   delta_corrected;
-}
-
-Eigen::VectorXd CaptureMotion::getDeltaCorrected(const VectorXd& _calib_current, const TimeStamp& _ts) const
-{
-    Motion   motion          = getBuffer().getMotion(_ts);
-    VectorXd delta_preint    = motion.delta_integr_;
-    MatrixXd jac_calib       = motion.jacobian_calib_;
-    VectorXd delta_error     = jac_calib * (_calib_current - calib_preint_);
-    VectorXd delta_corrected = correctDelta(delta_preint, delta_error);
-    return   delta_corrected;
-}
-
 bool CaptureMotion::containsTimeStamp (const TimeStamp& _ts, double _time_tolerance)
 {
     // the same capture is within tolerance