diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 7c4f2e6e5fe1ab437ece2beedee0ac50d2b0e8cd..d081ef2d074fc068f4ded38e8c3495d4c12e0131 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -182,9 +182,6 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
                 // process
                 processNew(params_tracker_->max_new_features);
 
-                // Set state to the keyframe
-                last_ptr_->getFrame()->setState(getProblem()->getState(last_ptr_->getTimeStamp()));
-
                 // Establish factors
                 establishFactors();
 
@@ -211,9 +208,6 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
                 FrameBasePtr frm = getProblem()->emplaceFrame(NON_ESTIMATED, incoming_ptr_->getTimeStamp());
                 frm->addCapture(incoming_ptr_);
 
-                // Set state to the keyframe
-                last_ptr_->getFrame()->setState(getProblem()->getState(last_ptr_->getTimeStamp()));
-
                 // Establish factors
                 establishFactors();