diff --git a/src/processor/processor_tracker_feature_polyline_2D.cpp b/src/processor/processor_tracker_feature_polyline_2D.cpp
index 5cdfc2f764851b07de5d481751f18bacb0806595..0ceaa6cb15961743a7e603a2940ad8ac33824e60 100644
--- a/src/processor/processor_tracker_feature_polyline_2D.cpp
+++ b/src/processor/processor_tracker_feature_polyline_2D.cpp
@@ -34,7 +34,7 @@ unsigned int ProcessorTrackerFeaturePolyline2D::trackFeatures(const FeatureBaseP
     //    return 0;
 
     // TRACK FEATURES ==================================================
-	if (_features_in.empty())
+	if (!_features_in.empty())
 	{
 		// prior transformations
 		Eigen::Matrix3s T_last_incoming_prior(Eigen::Matrix3s::Identity());
@@ -51,7 +51,7 @@ unsigned int ProcessorTrackerFeaturePolyline2D::trackFeatures(const FeatureBaseP
 			auto pl_incoming = std::static_pointer_cast<FeaturePolyline2D>(*ftr_it);
 			FeatureMatchPolyline2DScalarMap best_matches;
 
-			WOLF_INFO("----tracking feature incoming ", pl_incoming->id(), " with last features");
+			WOLF_DEBUG("----tracking feature incoming ", pl_incoming->id(), " with last features");
 
 			// Check matching with all features in last
 			// Store all matches consistent with T_last_incoming_prior in best_matches sorted by normalized score
@@ -61,8 +61,6 @@ unsigned int ProcessorTrackerFeaturePolyline2D::trackFeatures(const FeatureBaseP
 									pl_incoming,
 									T_last_incoming_prior);
 
-			std::cout << best_matches.size() << " matches with features last\n";
-
 			// Try the match for all candidates (sorted by normalized score, higher scores at the end!)
 			for (auto best_ftr_match_pair_it = best_matches.rbegin(); best_ftr_match_pair_it != best_matches.rend(); best_ftr_match_pair_it++ )
 			{
@@ -142,7 +140,7 @@ unsigned int ProcessorTrackerFeaturePolyline2D::trackFeatures(const FeatureBaseP
 				// match for this feature has been found
 				matched = true;
 
-				WOLF_WARN("Tracked feature");
+				WOLF_DEBUG("Tracked feature");
 				//best_ftr_match->print();
 				break;
 			}
@@ -164,13 +162,13 @@ unsigned int ProcessorTrackerFeaturePolyline2D::trackFeatures(const FeatureBaseP
 		T_sensor_world_incoming.topLeftCorner(2,2)  = R_sensor_world_incoming_;
 		T_sensor_world_incoming.topRightCorner(2,1) = t_sensor_world_incoming_;
 		// iterate over all untracked_features_incoming_ looking for existing landmarks
-		ftr_it = untracked_features_incoming_.begin();
+		auto ftr_it = untracked_features_incoming_.begin();
 		while (ftr_it != untracked_features_incoming_.end())
 		{
 			auto pl_incoming = std::static_pointer_cast<FeaturePolyline2D>(*ftr_it);
 			LandmarkMatchPolyline2DScalarMap best_lmk_matches;
 
-			WOLF_INFO("----tracking feature incoming ", pl_incoming->id(), " with landmarks");
+			WOLF_DEBUG("----tracking feature incoming ", pl_incoming->id(), " with landmarks");
 
 			// SEARCH: Check matching with all existing landmarks
 			for (auto lmk : getProblem()->getMap()->getLandmarkList())
@@ -185,8 +183,8 @@ unsigned int ProcessorTrackerFeaturePolyline2D::trackFeatures(const FeatureBaseP
 				// store best match (highest score) in map
 				landmark_match_map_[pl_incoming] = best_lmk_matches.rbegin()->second;
 
-				WOLF_INFO("Tracked landmark");
-				landmark_match_map_[pl_incoming]->print();
+				WOLF_DEBUG("Tracked landmark");
+				//landmark_match_map_[pl_incoming]->print();
 
 				// store landmark candidates to be merged
 				if (best_lmk_matches.size() > 1)
@@ -280,7 +278,7 @@ bool ProcessorTrackerFeaturePolyline2D::correctFeatureDrift(const FeatureBasePtr
         // not succeed
         if (lmk_matches.empty())
         {
-			WOLF_WARN("correctFeatureDrift: after retrying tryMatchWithLandmark with concatenated transformation didn't success, trying with SLAM transformation..", "last feature ", _last_feature->id(), " incoming feature ", _incoming_feature->id(), " landmark ", pl_lmk->id());
+			WOLF_DEBUG("correctFeatureDrift: after retrying tryMatchWithLandmark with concatenated transformation didn't success, trying with SLAM transformation..", "last feature ", _last_feature->id(), " incoming feature ", _incoming_feature->id(), " landmark ", pl_lmk->id());
 
         	// try with SLAM transformation
             Eigen::Matrix3s T_incoming_map_prior(Eigen::Matrix3s::Identity());
@@ -983,18 +981,13 @@ void ProcessorTrackerFeaturePolyline2D::preProcess()
         auto points = pl.points_;
         points.bottomRows(1) = Eigen::MatrixXs::Ones(1,points.cols());
         untracked_features_incoming_.push_back(std::make_shared<FeaturePolyline2D>(points, pl.covs_, pl.first_defined_, pl.last_defined_));
-        WOLF_INFO("new polyline in untracked_features_incoming_: ",untracked_features_incoming_.back()->id());
+        WOLF_DEBUG("new polyline in untracked_features_incoming_: ",untracked_features_incoming_.back()->id());
     }
 
     // compute transformations
     if (last_ptr_ != nullptr && incoming_ptr_ != nullptr)
         computeTransformations();
 
-    std::cout << "untracked_features_incoming: ";
-    for (auto ftr : untracked_features_incoming_)
-    	std::cout << ftr->id() << " ";
-    std::cout << std::endl;
-
     //WOLF_DEBUG("PTF ", getName(), ": ", "untracked_features_last_ has ", untracked_features_last_.size() , " features");
     //WOLF_DEBUG_COND(last_ptr_!=nullptr, "PTF ", getName(), ": ", last_ptr_->getFeatureList().size(), " in last_ptr_)");
 }
@@ -1176,7 +1169,7 @@ void ProcessorTrackerFeaturePolyline2D::tryMatchWithLandmark(LandmarkMatchPolyli
                                                              const FeaturePolyline2DPtr& _feat_ptr,
                                                              const Eigen::Matrix3s& _T_feature_landmark_prior) const
 {
-	WOLF_INFO("tryMatchWithLandmark: feature ", _feat_ptr->id(), " landmark ", _lmk_ptr->id());
+	WOLF_DEBUG("tryMatchWithLandmark: feature ", _feat_ptr->id(), " landmark ", _lmk_ptr->id());
 
     MatchPolyline2DPtr best_match = nullptr;