diff --git a/include/core/processor/factory_processor.h b/include/core/processor/factory_processor.h
index 74f01419ea00bfd01842364b5f79e46df02b525f..fbd3261c29afceed19fbc21666e79dd996b945aa 100644
--- a/include/core/processor/factory_processor.h
+++ b/include/core/processor/factory_processor.h
@@ -37,6 +37,7 @@ struct ParamsProcessorBase;
 
 // wolf
 #include "core/common/factory.h"
+#include "core/utils/params_server.h"
 
 // std
 
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 2a00afd27843a41e7b326a4bc32c3875b465d25b..462e5ee22a47f00f874f861dcd4d0ddcd37d8c17 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -79,8 +79,6 @@ class ProcessorDiffDrive : public ProcessorOdom2d
                                       const VectorXd&       _calib,
                                       const VectorXd&       _calib_preint,
                                       const CaptureBasePtr& _capture_origin) override;
-    //   FeatureBasePtr   emplaceFeature(CaptureMotionPtr _capture_own) override;
-    //   FactorBasePtr    emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) override;
       void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
 
       VectorXd getCalibration(const CaptureBaseConstPtr _capture = nullptr) const override;
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 4e883fa4e8541260575c6c61d603e7eceb991ab2..3bf0b996153858d5904181832a463ec4c1854e1c 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -477,16 +477,6 @@ class ProcessorMotion : public ProcessorBase, public MotionProvider
                                                 const VectorXd& _calib_preint,
                                                 const CaptureBasePtr& _capture_origin_ptr) = 0;
 
-        // /** \brief emplace a feature corresponding to given capture and add the feature to this capture
-        //  * \param _capture_motion: the parent capture
-        //  */
-        // virtual FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) = 0;
-
-        // /** \brief emplace a factor and link it in the wolf tree
-        //  * \param _feature_motion: the parent feature
-        //  * \param _frame_origin: the frame constrained by this motion factor
-        //  */
-        // virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) = 0;
 
         /** \brief emplace the features and factors corresponding to given capture and link them to the capture
          * \param _capture_own: the parent capture
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index 1f2f9a2457c6bc7fc1fce7cfbb8472505220f382..1612a4bf5ce75ff875b09017e9624d60d8ae6a3c 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -104,8 +104,6 @@ class ProcessorOdom2d : public ProcessorMotion
                                       const VectorXd&       _calib,
                                       const VectorXd&       _calib_preint,
                                       const CaptureBasePtr& _capture_origin_ptr) override;
-    //   FeatureBasePtr   emplaceFeature(CaptureMotionPtr _capture_motion) override;
-    //   FactorBasePtr    emplaceFactor(FeatureBasePtr _feature, CaptureBasePtr _capture_origin) override;
       void     emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
       VectorXd getCalibration(const CaptureBaseConstPtr _capture) const override;
       void     setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
diff --git a/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index c4cef80a76abf5a634b201ee7d3bebdb7e2393f2..fca115c8358bdc22bd60013d1f7f3fbc9f1828d2 100644
--- a/include/core/processor/processor_odom_3d.h
+++ b/include/core/processor/processor_odom_3d.h
@@ -125,8 +125,6 @@ class ProcessorOdom3d : public ProcessorMotion
                                       const VectorXd&       _calib,
                                       const VectorXd&       _calib_preint,
                                       const CaptureBasePtr& _capture_origin) override;
-    //   FeatureBasePtr   emplaceFeature(CaptureMotionPtr _capture_motion) override;
-    //   FactorBasePtr    emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) override;
       void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
 
       VectorXd getCalibration(const CaptureBaseConstPtr _capture) const override;
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index 34326e1d79bcf3715a4d56ac22165a63aef8d8f5..310fb5f107e46cd416a3dff9c7f9a84abd6fe334 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -182,28 +182,6 @@ void ProcessorDiffDrive::emplaceFeaturesAndFactors(CaptureBasePtr _capture_origi
                                          params_prc_diff_drv_selfcal_->apply_loss_function);
 }
 
-// FeatureBasePtr ProcessorDiffDrive::emplaceFeature(CaptureMotionPtr _capture_motion)
-// {
-//     auto key_feature_ptr = FeatureBase::emplace<FeatureDiffDrive>(_capture_motion,
-//                                                                _capture_motion->getBuffer().back().delta_integr_,
-//                                                                _capture_motion->getBuffer().back().delta_integr_cov_,
-//                                                                _capture_motion->getCalibrationPreint(),
-//                                                                _capture_motion->getBuffer().back().jacobian_calib_);
-
-//     return key_feature_ptr;
-// }
-
-// FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature,
-//                                                 CaptureBasePtr _capture_origin)
-// {
-//     auto ftr_motion = std::static_pointer_cast<FeatureMotion>(_feature);
-//     auto fac_odom = FactorBase::emplace<FactorDiffDrive>(ftr_motion,
-//                                                          ftr_motion,
-//                                                          _capture_origin,
-//                                                          shared_from_this(),
-//                                                          params_prc_diff_drv_selfcal_->apply_loss_function);
-//     return fac_odom;
-// }
 
 } /* namespace wolf */
 
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 0d34672fd0c47bfb798e78c1939d40cc887786d0..4a798a037c8851591d5367f838de28b43cef13b4 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -484,12 +484,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
         auto keyframe       = last_ptr_->getFrame();
         keyframe            ->link(getProblem());
 
-        // // create motion feature and add it to the key_capture
-        // auto key_feature    = emplaceFeature(last_ptr_);
-
-        // // create motion factor and link it to parent feature and other frame (which is origin's frame)
-        // auto factor         = emplaceFactor(key_feature, origin_ptr_);
-
         // create motion feature and add it to the key_capture
         // create motion factor and link it to parent feature and other frame (which is origin's frame)
         emplaceFeaturesAndFactors(origin_ptr_, last_ptr_);
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 05cc6c6e1eed2f46d547974e6d3f894b655e4b58..69dfe4e6ea31ebea40d9b9205db212e40067a4dc 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -176,30 +176,6 @@ void ProcessorOdom2d::emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin,
         feature, feature, _capture_origin->getFrame(), shared_from_this(), params_->apply_loss_function, TOP_MOTION);
 }
 
-// FeatureBasePtr ProcessorOdom2d::emplaceFeature(CaptureMotionPtr _capture_motion)
-// {
-//     Eigen::MatrixXd covariance = _capture_motion->getBuffer().back().delta_integr_cov_;
-//     makePosDef(covariance);
-
-//     FeatureBasePtr key_feature_ptr = FeatureBase::emplace<FeatureBase>(_capture_motion,
-//                                                                        "ProcessorOdom2d",
-//                                                                        _capture_motion->getBuffer().back().delta_integr_,
-//                                                                        covariance);
-//     return key_feature_ptr;
-// }
-
-// FactorBasePtr ProcessorOdom2d::emplaceFactor(FeatureBasePtr _feature, CaptureBasePtr _capture_origin)
-// {
-//     auto fac_odom = FactorBase::emplace<FactorRelativePose2d>(_feature,
-//                                                               _feature,
-//                                                               _capture_origin->getFrame(),
-//                                                               shared_from_this(),
-//                                                               params_->apply_loss_function,
-//                                                               TOP_MOTION);
-//     return fac_odom;
-// }
-
-
 
 } /* namespace wolf */
 
diff --git a/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index 83e42b4b212734e1045a76404fb4e99fc80df96d..1870bb66b61021cb0c3b4851eaec97ca5b80d80b 100644
--- a/src/processor/processor_odom_3d.cpp
+++ b/src/processor/processor_odom_3d.cpp
@@ -221,25 +221,6 @@ Eigen::VectorXd ProcessorOdom3d::correctDelta (const Eigen::VectorXd& delta_prei
     return delta_corrected;
 }
 
-// FeatureBasePtr ProcessorOdom3d::emplaceFeature(CaptureMotionPtr _capture_motion)
-// {
-//     FeatureBasePtr key_feature_ptr = FeatureBase::emplace<FeatureBase>(_capture_motion,
-//                                                                        "ProcessorOdom3d",
-//                                                                        _capture_motion->getBuffer().back().delta_integr_,
-//                                                                        _capture_motion->getBuffer().back().delta_integr_cov_);
-//     return key_feature_ptr;
-// }
-
-// FactorBasePtr ProcessorOdom3d::emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin)
-// {
-//     auto fac_odom = FactorBase::emplace<FactorRelativePose3d>(_feature_motion,
-//                                                               _feature_motion,
-//                                                               _capture_origin->getFrame(),
-//                                                               shared_from_this(),
-//                                                               params_->apply_loss_function,
-//                                                               TOP_MOTION);
-//     return fac_odom;
-// }
 
 void ProcessorOdom3d::emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own)
 {