Add key of prior in Feature type string

src/problem/problem.cpp

@@ -1003,7 +1003,7 @@ void Problem::setPriorOptions(const std::string& _mode,
                 auto cov_blk = (_sigma.at(key).array() * _sigma.at(key).array()).matrix().asDiagonal();
                 Q.emplace(key,key,cov_blk);
             }
-            WOLF_TRACE("prior covariance:\n"    , Q);
+            WOLF_TRACE("prior covariance:"    , Q);
             prior_options_->cov__ = Q;
         }
     }
@@ -1042,14 +1042,8 @@ FrameBasePtr Problem::applyPriorOptions(const TimeStamp& _ts)
                 assert(sb->getSize()      == state_blk.size() && "prior_options state wrong size");
                 assert(sb->getLocalSize() == covar_blk.rows() && "prior_options cov. wrong size");
 
-                WOLF_DEBUG("key: ", key);
-                WOLF_DEBUG("vec: ", state_blk);
-                WOLF_DEBUG("cov: ", covar_blk);
-                WOLF_DEBUG("sb : ", sb->getState());
-                WOLF_DEBUG("----------------------: ");
-
                 // feature
-                auto prior_fea = FeatureBase::emplace<FeatureBase>(prior_cap, "prior", state_blk, covar_blk);
+                auto prior_fea = FeatureBase::emplace<FeatureBase>(prior_cap, "Prior " + key, state_blk, covar_blk);
 
                 // factor
                 if (sb->hasLocalParametrization())