diff --git a/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h
index 94de8c5de9b48cc25396815412258067aaad97d8..effc3271915cb4070d97d06229ba953566c592e0 100644
--- a/include/core/factor/factor_diff_drive.h
+++ b/include/core/factor/factor_diff_drive.h
@@ -147,16 +147,4 @@ inline bool FactorDiffDrive::operator()(const T* const _p1,
     return true;
 }
 
-// inline Eigen::VectorXd FactorDiffDrive::residual()
-// {
-//     VectorXd residual(3);
-//              operator()(getFrameOther()->getP()->getState().data(),
-//                getFrameOther()->getO()->getState().data(),
-//                getFrame()->getP()->getState().data(),
-//                getFrame()->getO()->getState().data(),
-//                getCaptureOther()->getSensorIntrinsic()->getState().data(),
-//                residual.data());
-//     return residual;
-// }
-
 }  // namespace wolf
diff --git a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
index 4fa2f7276f2f4768e036a77b45f456fa3974e483..66c7820e8988ec4e9e365764e3ceb4cd4ab86556 100644
--- a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
@@ -193,33 +193,4 @@ inline bool FactorRelativePose2dWithExtrinsics::operator()(const T* const _p_ref
     return true;
 }
 
-// inline Eigen::Vector3d FactorRelativePose2dWithExtrinsics::residual() const
-// {
-//     Eigen::Vector3d res;
-//     Eigen::VectorXd p_sensor, o_sensor, p_ref, o_ref, p_target, o_target;
-//     p_sensor = getCapture()->getSensorP()->getState();
-//     o_sensor = getCapture()->getSensorO()->getState();
-//     // FRAME CASE
-//     if (not getFramesFactored().empty())
-//     {
-//         p_ref    = getFrameOther()->getP()->getState();
-//         o_ref    = getFrameOther()->getO()->getState();
-//         p_target = getCapture()->getFrame()->getP()->getState();
-//         o_target = getCapture()->getFrame()->getO()->getState();
-//     }
-//     // LANDMARK CASE
-//     else if (not getLandmarksFactored().empty())
-//     {
-//         p_ref    = getCapture()->getFrame()->getP()->getState();
-//         o_ref    = getCapture()->getFrame()->getO()->getState();
-//         p_target = getLandmarkOther()->getP()->getState();
-//         o_target = getLandmarkOther()->getO()->getState();
-//     }
-
-//     operator()(
-//         p_ref.data(), o_ref.data(), p_target.data(), o_target.data(), p_sensor.data(), o_sensor.data(), res.data());
-
-//     return res;
-// }
-
 }  // namespace wolf
diff --git a/include/core/factor/factor_relative_pose_3d_with_extrinsics.h b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
index 618d48c477938e5b72590e6cbf76cd02e298615c..c7b6cc8731902ca82dc53b86361e34eab52dbc94 100644
--- a/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
@@ -186,38 +186,4 @@ inline bool FactorRelativePose3dWithExtrinsics::operator()(const T* const _p_ref
     return true;
 }
 
-// inline Eigen::Vector6d FactorRelativePose3dWithExtrinsics::residual() const
-// {
-//     Eigen::Vector6d res;
-//     Eigen::VectorXd p_sensor, o_sensor, p_ref, o_ref, p_target, o_target;
-//     p_sensor = getCapture()->getSensorP()->getState();
-//     o_sensor = getCapture()->getSensorO()->getState();
-//     // FRAME CASE
-//     if (not getFramesFactored().empty())
-//     {
-//         p_ref    = getFrameOther()->getP()->getState();
-//         o_ref    = getFrameOther()->getO()->getState();
-//         p_target = getCapture()->getFrame()->getP()->getState();
-//         o_target = getCapture()->getFrame()->getO()->getState();
-//     }
-//     // LANDMARK CASE
-//     else if (not getLandmarksFactored().empty())
-//     {
-//         p_ref    = getCapture()->getFrame()->getP()->getState();
-//         o_ref    = getCapture()->getFrame()->getO()->getState();
-//         p_target = getLandmarkOther()->getP()->getState();
-//         o_target = getLandmarkOther()->getO()->getState();
-//     }
-
-//     operator()(
-//         p_ref.data(), o_ref.data(), p_target.data(), o_target.data(), p_sensor.data(), o_sensor.data(), res.data());
-
-//     return res;
-// }
-
-// inline double FactorRelativePose3dWithExtrinsics::cost() const
-// {
-//     return residual().squaredNorm();
-// }
-
 }  // namespace wolf
diff --git a/include/core/factor/factor_relative_position_3d_with_extrinsics.h b/include/core/factor/factor_relative_position_3d_with_extrinsics.h
index c48db36be7c09e08068765fc6b7fe626440483fa..025f4e5efeb12a7fd316ee0b1972ba5708aab4ed 100644
--- a/include/core/factor/factor_relative_position_3d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_position_3d_with_extrinsics.h
@@ -123,38 +123,4 @@ inline bool FactorRelativePosition3dWithExtrinsics::operator()(const T* const _p
     return true;
 }
 
-// inline Eigen::Vector3d FactorRelativePosition3dWithExtrinsics::residual() const
-// {
-//     Eigen::Vector3d res;
-//     Eigen::VectorXd p_sensor, o_sensor, p_ref, o_ref, p_target;
-//     p_sensor = getCapture()->getSensorP()->getState();
-//     o_sensor = getCapture()->getSensorO()->getState();
-//     // FRAME-FRAME CASE
-//     if (getFramesFactored().size() == 2)
-//     {
-//         p_ref    = getFrameOther()->getP()->getState();
-//         o_ref    = getFrameOther()->getO()->getState();
-//         p_target = getCapture()->getFrame()->getP()->getState();
-//     }
-//     // FRAME-LANDMARK CASE
-//     else if (getLandmarksFactored().size() == 1)
-//     {
-//         p_ref    = getCapture()->getFrame()->getP()->getState();
-//         o_ref    = getCapture()->getFrame()->getO()->getState();
-//         p_target = getLandmarkOther()->getP()->getState();
-//     }
-//     else
-//         throw std::runtime_error(
-//             "FactorRelativePosition3dWithExtrinsics::operator(): unknown case! not FRAME-FRAME or FRAME-LANDMARK");
-
-//     operator()(p_ref.data(), o_ref.data(), p_target.data(), p_sensor.data(), o_sensor.data(), res.data());
-
-//     return res;
-// }
-
-// inline double FactorRelativePosition3dWithExtrinsics::cost() const
-// {
-//     return residual().squaredNorm();
-// }
-
 }  // namespace wolf
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index d9e489c7df2ba882d878c4646f02604801a2f849..9825c82fc1802fc4003fc45f88cbfb12f0c510ce 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -26,9 +26,9 @@
 #include "core/processor/buffer.h"
 #include "core/processor/motion_provider.h"
 #include "core/processor/factory_processor.h"
-#include "core/sensor/sensor_base.h"
 #include "core/frame/frame_base.h"
 #include "core/common/time_stamp.h"
+#include "core/processor/buffer.h"
 
 // std
 #include <memory>