diff --git a/src/processor/polyline_2D_utils.cpp b/src/processor/polyline_2D_utils.cpp
index 696d2c0acde4091c6fe79e2bee11eb0f2468d64a..8aad5acc286b6bc2e2b1123a8edebd51421f8cac 100644
--- a/src/processor/polyline_2D_utils.cpp
+++ b/src/processor/polyline_2D_utils.cpp
@@ -409,7 +409,8 @@ MatchPolyline2DPtr computeBestSqDist(const Eigen::MatrixXs& _points_A, bool _fir
             best_match->normalized_score_ = normalized_score;
             best_match->overlap_dist_ = overlap_dist;
 
-            best_match->print();
+            if (print)
+                best_match->print();
         }
     }
 
@@ -541,7 +542,7 @@ MatchPolyline2DList computeBestRigidTrans(const Eigen::MatrixXs& _points_A, bool
      *          2. A closed:     [-last_A, 0]
      */
 
-    int last_A, last_B, offset, max_offset, min_offset, from_A, to_A, from_B, to_B, N_overlap;
+    int last_A, last_B, offset, max_offset, min_offset, from_A, to_A, from_B, to_B, N_overlap(0);
     last_A = _points_A.cols() - 1;
     last_B = _points_B.cols() - 1;
 
diff --git a/src/processor/processor_tracker_feature_polyline_2D.cpp b/src/processor/processor_tracker_feature_polyline_2D.cpp
index 4ac02519ca87fd08e10d1343bb2c888e4cd7b219..8bf1b9cb102b365b647b3fe25e97ff904079d61d 100644
--- a/src/processor/processor_tracker_feature_polyline_2D.cpp
+++ b/src/processor/processor_tracker_feature_polyline_2D.cpp
@@ -48,14 +48,14 @@ unsigned int ProcessorTrackerFeaturePolyline2D::trackFeatures(const FeatureBaseP
         auto pl_incoming = std::static_pointer_cast<FeaturePolyline2D>(*ftr_it);
         FeatureMatchPolyline2DScalarMap best_matches;
 
-        std::cout << "\tmatching feature incoming " << pl_incoming->id() << "\n";
+        // std::cout << "\tmatching feature incoming " << pl_incoming->id() << "\n";
 
         // Check matching with all features in last
         // Store all matches consistent with T_last_incoming_prior in best_matches sorted by normalized score
         for (auto ftr_last_ : _features_in)
             tryMatchWithFeature(best_matches, std::static_pointer_cast<FeaturePolyline2D>(ftr_last_), pl_incoming, T_last_incoming_prior);
 
-        std::cout << "\t" << best_matches.size() << " matches with features last found\n";
+        // std::cout << "\t" << best_matches.size() << " matches with features last found\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++ )
@@ -135,8 +135,8 @@ unsigned int ProcessorTrackerFeaturePolyline2D::trackFeatures(const FeatureBaseP
 
             // match for this feature has been found
             matched = true;
-            std::cout << "Feature tracked!\n";
-            best_ftr_match->print();
+            // std::cout << "Feature tracked!\n";
+            // best_ftr_match->print();
             break;
         }
 
@@ -147,7 +147,7 @@ unsigned int ProcessorTrackerFeaturePolyline2D::trackFeatures(const FeatureBaseP
             ftr_it++;
     }
 
-    WOLF_DEBUG(_feature_correspondences.size(), " features tracked");
+    // WOLF_DEBUG(_feature_correspondences.size(), " features tracked");
     return _feature_correspondences.size();
 }
 
@@ -175,8 +175,8 @@ bool ProcessorTrackerFeaturePolyline2D::correctFeatureDrift(const FeatureBasePtr
     auto pl_lmk        = lmk_inc_match->pl_landmark_;
     auto pl_inc        = lmk_inc_match->pl_feature_;
 
-    WOLF_DEBUG("LANDMARK-INCOMING:");
-    lmk_inc_match->print();
+    // WOLF_DEBUG("LANDMARK-INCOMING:");
+    // lmk_inc_match->print();
 
     assert(lmk_inc_match->check(false) && "before correct drift, check not passed");//without checking partial match
 
@@ -190,7 +190,7 @@ bool ProcessorTrackerFeaturePolyline2D::correctFeatureDrift(const FeatureBasePtr
 
     // CORRECT DRIFT
     // feature landmark transformation
-    WOLF_DEBUG("try update match...");
+    // WOLF_DEBUG("try update match...");
     tryUpdateMatchTransformation(lmk_inc_match);
 
     // RETRY LANDMARK-MATCH IF TOO MUCH ERROR
@@ -300,12 +300,12 @@ bool ProcessorTrackerFeaturePolyline2D::voteForKeyFrame()
 
 unsigned int ProcessorTrackerFeaturePolyline2D::processNew(const int& _max_features)
 {
-    WOLF_DEBUG("PTFP ", getName(), "::processNew: ");
+    // WOLF_DEBUG("PTFP ", getName(), "::processNew: ");
 
     // PT::processNew() ==========================================================
     unsigned int n = ProcessorTrackerFeature::processNew(_max_features); // implicit call to detectNewFeatures() and trackFeatures()
 
-    WOLF_DEBUG("Processing ", n, " new last features");
+    // WOLF_DEBUG("Processing ", n, " new last features");
 
     // prior transformations
     Eigen::Matrix3s T_sensor_world_last(Eigen::Matrix3s::Identity());
@@ -322,7 +322,7 @@ unsigned int ProcessorTrackerFeaturePolyline2D::processNew(const int& _max_featu
 
         auto pl_ftr = std::static_pointer_cast<FeaturePolyline2D>(ftr);
         LandmarkMatchPolyline2DScalarMap best_lmk_matches;
-        WOLF_DEBUG("Processing feature: ", pl_ftr->id());
+        // WOLF_DEBUG("Processing feature: ", pl_ftr->id());
 
         // SEARCH: Check matching with all existing landmarks
         for (auto lmk : getProblem()->getMap()->getLandmarkList())
@@ -430,37 +430,37 @@ unsigned int ProcessorTrackerFeaturePolyline2D::detectNewFeatures(const int& _ma
     for (auto ftr : _features_out)
         ftr->link(_capture);
 
-    WOLF_DEBUG(_features_out.size(), " were provided");
+    // WOLF_DEBUG(_features_out.size(), " were provided");
 
     return _features_out.size();
 }
 
 void ProcessorTrackerFeaturePolyline2D::establishFactors()
 {
-    WOLF_DEBUG("PTFP ", getName(), "::establishFactors: ");
+    // WOLF_DEBUG("PTFP ", getName(), "::establishFactors: ");
     unsigned int N_factors = 0;
 
     // Create a factor for each match in last features
     FeatureBasePtrList last_features = last_ptr_->getFeatureList();
     for (auto ftr : last_features)
     {
-        WOLF_DEBUG("\tLast feature: ", ftr->id());
+        // WOLF_DEBUG("\tLast feature: ", ftr->id());
         assert(landmark_match_map_.count(ftr) && "feature without landmark match in last features");
         auto lmk_match = landmark_match_map_[ftr];
         auto pl_lmk = lmk_match->pl_landmark_;
         auto pl_ftr = lmk_match->pl_feature_;
         assert(pl_ftr->id() == ftr->id());
-        WOLF_DEBUG("\tLandmark: ", pl_lmk->id());
+        //  WOLF_DEBUG("\tLandmark: ", pl_lmk->id());
 
         // LANDMARK CHANGED: update match
-        WOLF_DEBUG("\tLandmark changed?");
+        // WOLF_DEBUG("\tLandmark changed?");
         if (lmk_match->isDeprecated())
         {
-            WOLF_DEBUG("\tLandmark changed or was merged");
+            // WOLF_DEBUG("\tLandmark changed or was merged");
             // not successful update
             if (!updateLandmarkMatch(lmk_match))
             {
-                std::cout << "\t\tNot success: removing feature " << pl_ftr->id() << " and landmark match\n";
+                // std::cout << "\t\tNot success: removing feature " << pl_ftr->id() << " and landmark match\n";
                 // remove from match map
                 landmark_match_map_.erase(ftr);
                 // remove feature
@@ -472,10 +472,10 @@ void ProcessorTrackerFeaturePolyline2D::establishFactors()
         // LANDMARK REMOVED: remove match and feature
         else
         {
-            WOLF_DEBUG("\tLandmark removed?");
+            // WOLF_DEBUG("\tLandmark removed?");
             if (pl_lmk->isRemoving())
             {
-                std::cout << "\t\tLandmark was removed: removing feature " << pl_ftr->id() << " and landmark match\n";
+                // std::cout << "\t\tLandmark was removed: removing feature " << pl_ftr->id() << " and landmark match\n";
                 // remove from match map
                 landmark_match_map_.erase(ftr);
                 // remove feature
@@ -485,72 +485,72 @@ void ProcessorTrackerFeaturePolyline2D::establishFactors()
         }
 
         // MODIFY LANDMARK (only for not closed and not recently emplaced)
-        WOLF_DEBUG("\tModifying..");
+        // WOLF_DEBUG("\tModifying..");
         if (!pl_lmk->isClosed() && pl_lmk->getHits() > 0)
             // If modified, add lmk to modified_lmks_ list
             if (modifyLandmarkAndMatch(lmk_match))
                 modified_lmks_.push_back(pl_lmk);
 
         // ESTABLISH FACTORS
-        WOLF_DEBUG("\tEstablishing factors..");
+        // WOLF_DEBUG("\tEstablishing factors..");
         // checks
         assert(lmk_match->feature_from_id_ == 0 && "Landmark didn't grow properly");
         assert(lmk_match->feature_to_id_ == pl_ftr->getNPoints()-1 && "Landmark didn't grow properly");
         assert(pl_lmk->getNPoints() >= pl_ftr->getNPoints() && "Landmark didn't grow properly");
         assert(lmk_match->check() && "Landmark didn't grow properly");
 
-        std::cout << "Establishing factor between" << std::endl;
-        std::cout << "\tfeature " << pl_ftr->id() << " is liked to capture? " << (pl_ftr->getCapture() ? pl_ftr->getCapture()->id() : 9999999999999999) << " is linked to problem? " << (pl_ftr->getProblem() ? "YES" : "NO") << std::endl;
-        std::cout << "\tlandmark " << pl_lmk->id() << std::endl;
-        std::cout << "\tmatch from feature point " << lmk_match->feature_from_id_ << std::endl;
-        std::cout << "\tmatch to feature point " << lmk_match->feature_to_id_ << std::endl;
-        std::cout << "\tmatch from landmark point " << lmk_match->landmark_from_id_ << std::endl;
-        std::cout << "\tmatch to landmark point " << lmk_match->landmark_to_id_ << std::endl;
+        // std::cout << "Establishing factor between" << std::endl;
+        // std::cout << "\tfeature " << pl_ftr->id() << " is liked to capture? " << (pl_ftr->getCapture() ? pl_ftr->getCapture()->id() : 9999999999999999) << " is linked to problem? " << (pl_ftr->getProblem() ? "YES" : "NO") << std::endl;
+        // std::cout << "\tlandmark " << pl_lmk->id() << std::endl;
+        // std::cout << "\tmatch from feature point " << lmk_match->feature_from_id_ << std::endl;
+        // std::cout << "\tmatch to feature point " << lmk_match->feature_to_id_ << std::endl;
+        // std::cout << "\tmatch from landmark point " << lmk_match->landmark_from_id_ << std::endl;
+        // std::cout << "\tmatch to landmark point " << lmk_match->landmark_to_id_ << std::endl;
 
         // Factors for all feature points
         int lmk_point_id = lmk_match->landmark_from_id_;
         for (int ftr_point_id = 0; ftr_point_id < pl_ftr->getNPoints(); ftr_point_id++)
         {
-            std::cout << "feature point " << ftr_point_id << std::endl;
-            std::cout << "landmark point " << lmk_point_id << std::endl;
+            // std::cout << "feature point " << ftr_point_id << std::endl;
+            // std::cout << "landmark point " << lmk_point_id << std::endl;
 
             // First not defined point
             if (ftr_point_id == 0 && !pl_ftr->isFirstDefined())
                 // first point to line factor
             {
-                std::cout << "point-line: landmark points " << lmk_point_id << ", " << pl_lmk->getNextValidId(lmk_point_id) << std::endl;
+                // std::cout << "point-line: landmark points " << lmk_point_id << ", " << pl_lmk->getNextValidId(lmk_point_id) << std::endl;
                 assert(!(lmk_point_id == pl_lmk->getLastId() && !pl_lmk->isClosed()) && "Trying to establish a factor for first not defined point of a feature with the last landmark point without being closed. A landmark didn't grow correctly.");
 
                 // emplace factor
                 emplaceFactorPointToLine(pl_ftr, pl_lmk, ftr_point_id, lmk_point_id, pl_lmk->getNextValidId(lmk_point_id));
                 N_factors++;
-                std::cout << "factor added" << std::endl;
+                // std::cout << "factor added" << std::endl;
             }
 
             // Last not defined point
             else if (ftr_point_id == pl_ftr->getNPoints()-1 && !pl_ftr->isLastDefined())
                 // last point to line factor
             {
-                std::cout << "point-line: landmark points " << lmk_point_id << ", " << pl_lmk->getPrevValidId(lmk_point_id) << std::endl;
+                // std::cout << "point-line: landmark points " << lmk_point_id << ", " << pl_lmk->getPrevValidId(lmk_point_id) << std::endl;
                 assert(!(lmk_point_id == pl_lmk->getFirstId() && !pl_lmk->isClosed()) && "Trying to establish a factor for last not defined point of a feature with the first landmark point without being closed. A landmark didn't grow correctly.");
 
                 // emplace factor
                 emplaceFactorPointToLine(pl_ftr, pl_lmk, ftr_point_id, lmk_point_id, pl_lmk->getPrevValidId(lmk_point_id));
                 N_factors++;
-                std::cout << "factor added" << std::endl;
+                // std::cout << "factor added" << std::endl;
             }
 
             // Defined point
             else
                 // point to point factor
             {
-                std::cout << "point-point: landmark point " << lmk_point_id << std::endl;
+                // std::cout << "point-point: landmark point " << lmk_point_id << std::endl;
                 //std::cout << "landmark first id:" << pl_lmk->getFirstId() << std::endl;
                 //std::cout << "landmark last id:" << pl_lmk->getLastId() << std::endl;
                 //std::cout << "landmark n points:" << pl_lmk->getNPoints() << std::endl;
                 emplaceFactorPoint(pl_ftr, pl_lmk, ftr_point_id, lmk_point_id);
                 N_factors++;
-                std::cout << "factor added" << std::endl;
+                // std::cout << "factor added" << std::endl;
             }
 
             // Next lmk point
@@ -558,7 +558,7 @@ void ProcessorTrackerFeaturePolyline2D::establishFactors()
                 lmk_point_id=pl_lmk->getNextValidId(lmk_point_id);
         }
     }
-    std::cout << N_factors << " factors established" << std::endl;
+    // std::cout << N_factors << " factors established" << std::endl;
 }
 
 void ProcessorTrackerFeaturePolyline2D::emplaceFactorPointToLine(FeaturePolyline2DPtr _polyline_feature,
@@ -595,7 +595,7 @@ void ProcessorTrackerFeaturePolyline2D::emplaceFactorPoint(FeaturePolyline2DPtr
 
 LandmarkBasePtr ProcessorTrackerFeaturePolyline2D::emplaceLandmark(FeatureBasePtr _feature_ptr)
 {
-    WOLF_DEBUG("PTFP ", getName(), "::emplaceLandmark: ");
+    // WOLF_DEBUG("PTFP ", getName(), "::emplaceLandmark: ");
     //std::cout << "Robot global pose: " << t_world_robot_.transpose() << std::endl;
     //std::cout << "Sensor global pose: " << t_world_sensor_.transpose() << std::endl;
     assert(_feature_ptr->getType() == "POLYLINE 2D");
@@ -607,8 +607,8 @@ LandmarkBasePtr ProcessorTrackerFeaturePolyline2D::emplaceLandmark(FeatureBasePt
     Eigen::MatrixXs points_global = R_world_sensor_last_ * polyline_ptr->getPoints().topRows<2>() +
                                     t_world_sensor_last_ * Eigen::VectorXs::Ones(polyline_ptr->getNPoints()).transpose();
 
-    std::cout << "Feature local points: " << std::endl << polyline_ptr->getPoints().topRows<2>() << std::endl;
-    std::cout << "Landmark global points: " << std::endl << points_global << std::endl;
+    // std::cout << "Feature local points: " << std::endl << polyline_ptr->getPoints().topRows<2>() << std::endl;
+    // std::cout << "Landmark global points: " << std::endl << points_global << std::endl;
     // std::cout << "New landmark: extremes defined " << polyline_ptr->isFirstDefined() << polyline_ptr->isLastDefined() << std::endl;
 
     // Create new landmark
@@ -624,10 +624,10 @@ LandmarkBasePtr ProcessorTrackerFeaturePolyline2D::emplaceLandmark(FeatureBasePt
 bool ProcessorTrackerFeaturePolyline2D::modifyLandmarkAndMatch(LandmarkMatchPolyline2DPtr& lmk_match)
 {
     WOLF_DEBUG("PTFP ", getName(), "::modifyLandmarkAndMatch: ");
-    lmk_match->print();
+    //lmk_match->print();
     auto pl_lmk = lmk_match->pl_landmark_;
     auto pl_ftr = lmk_match->pl_feature_;
-    bool print = true;
+    bool print = false;
     bool modified = false;
 
     assert(lmk_match->check() && "Bad landmark match provided");
@@ -797,7 +797,7 @@ bool ProcessorTrackerFeaturePolyline2D::modifyLandmarkAndMatch(LandmarkMatchPoly
 
 void ProcessorTrackerFeaturePolyline2D::advanceDerived()
 {
-    WOLF_DEBUG("PTFP ", getName(), "::advanceDerived: ");
+    //WOLF_DEBUG("PTFP ", getName(), "::advanceDerived: ");
     // remove landmark matches with last features
     if (last_ptr_ != nullptr)
         for (auto ftr : last_ptr_->getFeatureList())
@@ -813,20 +813,20 @@ void ProcessorTrackerFeaturePolyline2D::advanceDerived()
            "any linked feature in untracked_features_incoming_");
 
     // remove untracked features
-    WOLF_DEBUG("PTF ", getName(), ": ", "removing ", untracked_features_last_.size() , " features in untracked_features_last_");
+    //WOLF_DEBUG("PTF ", getName(), ": ", "removing ", untracked_features_last_.size() , " features in untracked_features_last_");
     untracked_features_last_.clear();
 
     // move untracked features incoming to last
     untracked_features_last_.splice(untracked_features_last_.end(),untracked_features_incoming_);
-    WOLF_DEBUG("PTF ", getName(), ": untracked_features_last_ has ", untracked_features_last_.size() , " features (prev. untracked_features_incoming_)");
-    WOLF_DEBUG_COND(last_ptr_!= nullptr, "PTF ", getName(), ": ", last_ptr_->getFeatureList().size(), " in last_ptr_)");
+    //WOLF_DEBUG("PTF ", getName(), ": untracked_features_last_ has ", untracked_features_last_.size() , " features (prev. untracked_features_incoming_)");
+    //WOLF_DEBUG_COND(last_ptr_!= nullptr, "PTF ", getName(), ": ", last_ptr_->getFeatureList().size(), " in last_ptr_)");
 
     ProcessorTrackerFeature::advanceDerived();
 }
 
 void ProcessorTrackerFeaturePolyline2D::resetDerived()
 {
-    WOLF_DEBUG("PTFP ", getName(), "::resetDerived: ");
+    //WOLF_DEBUG("PTFP ", getName(), "::resetDerived: ");
     // remove landmark matches with last features
     if (last_ptr_ != nullptr)
         for (auto ftr : last_ptr_->getFeatureList())
@@ -842,20 +842,20 @@ void ProcessorTrackerFeaturePolyline2D::resetDerived()
            "any linked feature in untracked_features_incoming_");
 
     // remove untracked features
-    WOLF_DEBUG("PTF ", getName(), ": ", "removing ", untracked_features_last_.size() , " features in untracked_features_last_");
+    //WOLF_DEBUG("PTF ", getName(), ": ", "removing ", untracked_features_last_.size() , " features in untracked_features_last_");
     untracked_features_last_.clear();
 
     // move untracked features incoming to last
     untracked_features_last_.splice(untracked_features_last_.end(),untracked_features_incoming_);
-    WOLF_DEBUG("PTF ", getName(), ": untracked_features_last_ has ", untracked_features_last_.size() , " features (prev. untracked_features_incoming_)");
-    WOLF_DEBUG_COND(last_ptr_!= nullptr, "PTF ", getName(), ": ", last_ptr_->getFeatureList().size(), " in last_ptr_)");
+    //WOLF_DEBUG("PTF ", getName(), ": untracked_features_last_ has ", untracked_features_last_.size() , " features (prev. untracked_features_incoming_)");
+    //WOLF_DEBUG_COND(last_ptr_!= nullptr, "PTF ", getName(), ": ", last_ptr_->getFeatureList().size(), " in last_ptr_)");
 
     ProcessorTrackerFeature::resetDerived();
 }
 
 void ProcessorTrackerFeaturePolyline2D::preProcess()
 {
-    WOLF_DEBUG("PTFP ", getName(), "::extractPolylines: ");
+    //WOLF_DEBUG("PTFP ", getName(), "::extractPolylines: ");
     // Extract all polylines from incoming_
     // TODO: sort corners by bearing
     std::list<laserscanutils::Polyline> polylines;
@@ -877,13 +877,13 @@ void ProcessorTrackerFeaturePolyline2D::preProcess()
     if (last_ptr_ != nullptr && incoming_ptr_ != nullptr)
         computeTransformations();
 
-    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_)");
+    //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_)");
 }
 
 void ProcessorTrackerFeaturePolyline2D::postProcess()
 {
-    WOLF_DEBUG("PTFP ", getName(), "::postProcess: ");
+    //WOLF_DEBUG("PTFP ", getName(), "::postProcess: ");
     // Try to close & classify modified landmarks
     while (!modified_lmks_.empty())
     {
@@ -896,7 +896,7 @@ void ProcessorTrackerFeaturePolyline2D::postProcess()
         if (lmk_ptr->getClassification().type == UNCLASSIFIED && lmk_ptr->getNDefinedPoints() >= 3 && lmk_ptr->getNDefinedPoints() <= 4)
             lmk_ptr->tryClassify(params_tracker_feature_polyline_->class_position_error_th, params_tracker_feature_polyline_->polyline_classes);
         // try close
-        if (!lmk_ptr->isClosed() && (lmk_ptr->getNDefinedPoints() >= 3 || lmk_ptr->getNPoints() >= 4))
+        if (!lmk_ptr->isClosed() && (lmk_ptr->getNDefinedPoints() >= 4 || lmk_ptr->getNPoints() >= 5))
             lmk_ptr->tryClose(params_tracker_feature_polyline_->class_position_error_th);
     }
 
@@ -927,8 +927,8 @@ void ProcessorTrackerFeaturePolyline2D::postProcess()
                                               params_tracker_feature_polyline_->match_landmark_overlap_n_min,
                                               params_tracker_feature_polyline_->match_landmark_overlap_n_defined_min);
     }
-    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_)");
+    //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_)");
 }
 
 void ProcessorTrackerFeaturePolyline2D::tryMatchWithFeature(FeatureMatchPolyline2DScalarMap& ftr_matches,
@@ -936,7 +936,7 @@ void ProcessorTrackerFeaturePolyline2D::tryMatchWithFeature(FeatureMatchPolyline
                                                             const FeaturePolyline2DPtr& _ftr_I,
                                                             const Eigen::Matrix3s& _T_last_incoming_prior) const
 {
-    WOLF_DEBUG("tryMatchWithFeature: incoming ", _ftr_I->id(), " last ", _ftr_L->id());
+    //WOLF_DEBUG("tryMatchWithFeature: incoming ", _ftr_I->id(), " last ", _ftr_L->id());
 
     MatchPolyline2DPtr best_match = nullptr;
 
@@ -1032,8 +1032,8 @@ void ProcessorTrackerFeaturePolyline2D::tryMatchWithFeature(FeatureMatchPolyline
 
         // store in list
         ftr_matches[ftr_match->normalized_score_] = ftr_match;
-        WOLF_DEBUG("match stored:");
-        ftr_match->print();
+        //WOLF_DEBUG("match stored:");
+        //ftr_match->print();
         assert(ftr_match->check() && "tryMatchWithFeature: wrong match");
     }
 
@@ -1044,7 +1044,7 @@ void ProcessorTrackerFeaturePolyline2D::tryMatchWithLandmark(LandmarkMatchPolyli
                                                              const FeaturePolyline2DPtr& _feat_ptr,
                                                              const Eigen::Matrix3s& _T_feature_landmark_prior) const
 {
-    WOLF_DEBUG("PTFP ", getName(), "::tryMatchWithLandmark: ");
+    //WOLF_DEBUG("PTFP ", getName(), "::tryMatchWithLandmark: ");
 
     MatchPolyline2DPtr best_match = nullptr;
 
@@ -1113,7 +1113,7 @@ void ProcessorTrackerFeaturePolyline2D::tryMatchWithLandmark(LandmarkMatchPolyli
     //valid match
     if (best_match != nullptr)
     {
-        WOLF_DEBUG("match found!");
+        //WOLF_DEBUG("match found!");
         auto lmk_match = std::make_shared<LandmarkMatchPolyline2D>();
 
         // landmark