diff --git a/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp b/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp
index a9146cc7e3f49d70a208439c83b709646828d924..a81b36918ce96fa8d47d6387cdae5a24a6a95800 100644
--- a/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp
@@ -117,6 +117,8 @@ class FactorPose3dWithExtrinsicsBase_Test : public testing::Test
         sensor_pose_ = problem_->installSensor("SensorPose", "pose", extr, intr_sp);
         auto params_proc = std::make_shared<ParamsProcessorPose>();
         auto proc_pose = problem_->installProcessor("ProcessorPose", "pose", sensor_pose_, params_proc);
+        // somehow by default the sensor extrinsics is fixed
+        sensor_pose_->unfixExtrinsics();
     }
 
     void TearDown() override{};
@@ -258,15 +260,9 @@ TEST_F(FactorPose3dWithExtrinsicsMANUAL_Test, check_tree)
 
 TEST_F(FactorPose3dWithExtrinsicsMANUAL_Test, solve)
 {
-    // somehow by default the sensor extrinsics is fixed
-    // sensor_pose_->unfixExtrinsics();
-
     problem_->perturb();
-
     std::string report = solver_->solve(SolverManager::ReportVerbosity::FULL);
 
-    problem_->print(4,1,1,1);
-
     SensorPosePtr sp = std::static_pointer_cast<SensorPose>(sensor_pose_);
     ASSERT_MATRIX_APPROX(KF1_->getStateVector(), pose1_, 1e-6);
     ASSERT_MATRIX_APPROX(KF2_->getStateVector(), pose2_, 1e-6);
@@ -283,11 +279,7 @@ TEST_F(FactorPose3dWithExtrinsics_ProcessorWithKeyFrameCallbackFirst_Test, check
 
 TEST_F(FactorPose3dWithExtrinsics_ProcessorWithKeyFrameCallbackFirst_Test, solve)
 {
-    // somehow by default the sensor extrinsics is fixed
-    sensor_pose_->unfixExtrinsics();
-
     problem_->perturb();
-
     std::string report = solver_->solve(SolverManager::ReportVerbosity::FULL);
 
     SensorPosePtr sp = std::static_pointer_cast<SensorPose>(sensor_pose_);
@@ -306,11 +298,7 @@ TEST_F(FactorPose3dWithExtrinsics_ProcessorWithProcessFirst_Test, check_tree)
 
 TEST_F(FactorPose3dWithExtrinsics_ProcessorWithProcessFirst_Test, solve)
 {
-    // somehow by default the sensor extrinsics is fixed
-    sensor_pose_->unfixExtrinsics();
-
     problem_->perturb();
-
     std::string report = solver_->solve(SolverManager::ReportVerbosity::FULL);
 
     SensorPosePtr sp = std::static_pointer_cast<SensorPose>(sensor_pose_);
diff --git a/test/gtest_processor_pose.cpp b/test/gtest_processor_pose.cpp
deleted file mode 100644
index 5858f75073201190eca2757e50d7d84df1821996..0000000000000000000000000000000000000000
--- a/test/gtest_processor_pose.cpp
+++ /dev/null
@@ -1,172 +0,0 @@
-/**
- * \file gtest_factor_pose_with_extrinsics.cpp
- *
- *  Created on: Feb a9, 2020
- *      \author: mfourmy
- */
-
-#include "core/utils/utils_gtest.h"
-#include "core/ceres_wrapper/solver_ceres.h"
-#include "core/capture/capture_base.h"
-#include "core/capture/capture_pose.h"
-#include "core/sensor/sensor_pose.h"
-#include "core/processor/processor_pose.h"
-#include "core/factor/factor_relative_pose_3d.h"
-#include "core/capture/capture_odom_3d.h"
-#include "core/factor/factor_pose_3d_with_extrinsics.h"
-
-
-using namespace Eigen;
-using namespace wolf;
-using std::cout;
-using std::endl;
-
-const Vector3d zero3 = Vector3d::Zero();
-
-/**
-Factor graph implemented for the test
-2 KF is not enough since the SensorPose extrinsics translation would be unobservable along the first KF1-KF2 transformation axis of rotation 
-     (KF1)----|Odom3d|----(KF2)----|Odom3d|----(KF3)
-      |                     |                    |
-      |                     |                    | 
- |Pose3dWE|             |Pose3dWE|           |Pose3dWE|
-     \                                           /
-      \                                         /
-       \____________(Extrinsics)_______________/
-*/
-
-class FactorPose3dWithExtrinsics_Test : public testing::Test
-{
-    public:
-
-        ProblemPtr problem_;
-        SolverCeresPtr solver_;
-        SensorBasePtr sensor_pose_;
-        FrameBasePtr KF1_;
-        FrameBasePtr KF2_;
-        FrameBasePtr KF3_;
-
-        Vector7d pose1_;
-        Vector7d pose2_;
-        Vector7d pose3_;
-        Vector3d b_p_bm_;
-        Quaterniond b_q_m_;
-
-    void SetUp() override
-    {
-        // 2 random 3d positions
-        Vector3d w_p_wb1 = Vector3d::Random();
-        Quaterniond w_q_b1 = Quaterniond::UnitRandom();
-        Vector3d w_p_wb2 = Vector3d::Random();
-        Quaterniond w_q_b2 = Quaterniond::UnitRandom();
-        Vector3d w_p_wb3 = Vector3d::Random();
-        Quaterniond w_q_b3 = Quaterniond::UnitRandom();
-
-        // pose vectors
-        pose1_ << w_p_wb1, w_q_b1.coeffs(); 
-        pose2_ << w_p_wb2, w_q_b2.coeffs(); 
-        pose3_ << w_p_wb3, w_q_b3.coeffs(); 
-        // unitary covariance
-        Matrix6d cov_odom = pow(0.1,2)*Matrix6d::Identity(); 
-        Matrix6d cov_mocap = pow(0.001,2)*Matrix6d::Identity(); 
-
-        /////////////////////////////////////////
-        // extrinsics ground truth and mocap data
-        b_p_bm_ << 0.1,0.2,0.3;
-        b_q_m_ = Quaterniond::UnitRandom();
-
-        Vector3d w_p_wb1_meas = w_p_wb1 + w_q_b1 * b_p_bm_;
-        Vector3d w_p_wb2_meas = w_p_wb2 + w_q_b2 * b_p_bm_; 
-        Vector3d w_p_wb3_meas = w_p_wb3 + w_q_b3 * b_p_bm_; 
-        Quaterniond w_q_b1_meas = w_q_b1 * b_q_m_;
-        Quaterniond w_q_b2_meas = w_q_b2 * b_q_m_;
-        Quaterniond w_q_b3_meas = w_q_b3 * b_q_m_;
-        Vector7d pose1__meas; pose1__meas << w_p_wb1_meas, w_q_b1_meas.coeffs();
-        Vector7d pose2__meas; pose2__meas << w_p_wb2_meas, w_q_b2_meas.coeffs();
-        Vector7d pose3__meas; pose3__meas << w_p_wb3_meas, w_q_b3_meas.coeffs();
-
-        /////////////////////
-        // relative odom data 
-        Vector3d b1_p_b1b2 = w_q_b1.conjugate()*(w_p_wb2 - w_p_wb1);
-        Quaterniond b1_q_b2 = w_q_b1.conjugate()*w_q_b2;
-        Vector7d pose_12; pose_12 << b1_p_b1b2, b1_q_b2.coeffs();
-
-        Vector3d b2_p_b2b3 = w_q_b2.conjugate()*(w_p_wb3 - w_p_wb2);
-        Quaterniond b2_q_b3 = w_q_b2.conjugate()*w_q_b3;
-        Vector7d pose_23; pose_23 << b2_p_b2b3, b2_q_b3.coeffs();
-
-        // Problem and solver_
-        problem_ = Problem::create("PO", 3);
-        solver_ = std::make_shared<SolverCeres>(problem_);
-
-        // pose sensor and proc (to get extrinsics in the prb)
-        auto intr_sp = std::make_shared<ParamsSensorPose>();
-        Vector7d extr; extr << b_p_bm_, b_q_m_.coeffs();
-        sensor_pose_ = problem_->installSensor("SensorPose", "pose", extr, intr_sp);
-        auto params_proc = std::make_shared<ParamsProcessorPose>();
-        auto proc_pose = problem_->installProcessor("ProcessorPose", "pose", sensor_pose_, params_proc);
-
-        // Two frames
-        KF1_ = problem_->emplaceFrame(1, pose1_);
-        KF2_ = problem_->emplaceFrame(2, pose2_);
-        KF3_ = problem_->emplaceFrame(3, pose3_);
-
-        ///////////////////
-        // Create factor graph
-        // Odometry capture, feature and factor
-        auto cap_odom1 = CaptureBase::emplace<CapturePose>(KF2_, 2, nullptr, pose_12, cov_odom);
-        auto fea_odom1 = FeatureBase::emplace<FeatureBase>(cap_odom1, "odom", pose_12, cov_odom);
-        FactorRelativePose3dPtr fac_odomA = FactorBase::emplace<FactorRelativePose3d>(fea_odom1, fea_odom1, KF1_, nullptr, false, TOP_MOTION);
-
-        auto cap_odom2 = CaptureBase::emplace<CapturePose>(KF3_, 3, nullptr, pose_23, cov_odom);
-        auto fea_odom2 = FeatureBase::emplace<FeatureBase>(cap_odom2, "odom", pose_23, cov_odom);
-        FactorRelativePose3dPtr fac_odom2 = FactorBase::emplace<FactorRelativePose3d>(fea_odom2, fea_odom2, KF2_, nullptr, false, TOP_MOTION);
-
-        // Captures mocap
-        auto cap_mocap1 = CaptureBase::emplace<CapturePose>(KF1_, 1, sensor_pose_, pose1__meas, cov_mocap);
-        auto fea_mocap1 = FeatureBase::emplace<FeatureBase>(cap_mocap1, "pose", pose1__meas, cov_mocap);
-        FactorPose3dWithExtrinsicsPtr fac_mocap1 = FactorBase::emplace<FactorPose3dWithExtrinsics>(fea_mocap1, fea_mocap1, nullptr, false, TOP_MOTION);
-
-        auto cap_mocap2 = CaptureBase::emplace<CapturePose>(KF2_, 2, sensor_pose_, pose2__meas, cov_mocap);
-        auto fea_mocap2 = FeatureBase::emplace<FeatureBase>(cap_mocap2, "pose", pose2__meas, cov_mocap);
-        FactorPose3dWithExtrinsicsPtr fac_mocap2 = FactorBase::emplace<FactorPose3dWithExtrinsics>(fea_mocap2, fea_mocap2, nullptr, false, TOP_MOTION);
-
-        auto cap_mocap3 = CaptureBase::emplace<CapturePose>(KF3_, 3, sensor_pose_, pose3__meas, cov_mocap);
-        auto fea_mocap3 = FeatureBase::emplace<FeatureBase>(cap_mocap3, "pose", pose3__meas, cov_mocap);
-        FactorPose3dWithExtrinsicsPtr fac_mocap3 = FactorBase::emplace<FactorPose3dWithExtrinsics>(fea_mocap3, fea_mocap3, nullptr, false, TOP_MOTION);
-
-    }
-
-    void TearDown() override{};
-};
-
-
-TEST_F(FactorPose3dWithExtrinsics_Test, check_tree)
-{
-    ASSERT_TRUE(problem_->check(0));
-}
-
-TEST_F(FactorPose3dWithExtrinsics_Test, solve)
-{
-    // somehow by default the sensor extrinsics is fixed
-    sensor_pose_->unfixExtrinsics();
-
-    problem_->perturb();
-
-    std::string report = solver_->solve(SolverManager::ReportVerbosity::FULL);
-
-    // problem_->print(4,1,1,1);
-
-    SensorPosePtr sp = std::static_pointer_cast<SensorPose>(sensor_pose_);
-    ASSERT_MATRIX_APPROX(KF1_->getStateVector(), pose1_, 1e-6);
-    ASSERT_MATRIX_APPROX(KF2_->getStateVector(), pose2_, 1e-6);
-    ASSERT_MATRIX_APPROX(sp->getP()->getState(), b_p_bm_, 1e-6);
-    ASSERT_MATRIX_APPROX(sp->getO()->getState(), b_q_m_.coeffs(), 1e-6);
-
-}
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
\ No newline at end of file