diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 52c178c82b0a46e68fd601a11e689652dade91c1..fe0e98412608f799877beff7bb929c49106fbf86 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -655,7 +655,7 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
     // Make non-key-frame for last Capture
     auto new_frame_ptr  = getProblem()->emplaceFrame(NON_ESTIMATED,
                                                      origin_ts,
-                                                     getStateStructure(),
+                                                     getProblem()->getFrameStructure(),
                                                      _origin_frame->getState());
                                         
     // emplace (emtpy) last Capture