The problem was that we are getting the values before solve(). Now I take values before and after solve. For the same time stamp, before solve we have the peak, after solve we have it not.
In any case the P and V curbes are OK
and anyway I’d like to avoid this peak even before solve()…
Solved by adding this code in ProcessorMotion in case of keyframe creation (L421):
// Set the capture's calibration with best results available (in case origin_ptr_ received a solve())setCalibration(last_ptr_,getCalibration(origin_ptr_));