diff --git a/src/processor_base.cpp b/src/processor_base.cpp
index c6a1e452976a9fa65f9b30600265ae203ec26a7e..f68ef9b9f73d3fc9d84ce925e101a8b6c422959e 100644
--- a/src/processor_base.cpp
+++ b/src/processor_base.cpp
@@ -48,6 +48,7 @@ FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _captur
 
 void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
 {
+    WOLF_DEBUG("P", isMotion() ? "M" : "T ", getName(), ": KF", _keyframe_ptr->id(), " callback received with ts = ", _keyframe_ptr->getTimeStamp());
     if (_keyframe_ptr != nullptr)
         kf_pack_buffer_.add(_keyframe_ptr,_time_tol_other);
 }
diff --git a/src/processor_tracker.cpp b/src/processor_tracker.cpp
index 45718021a33625a45d08d116b2042dce179ee189..741eacb07aed84a327e3fe38c72210819a4d2486 100644
--- a/src/processor_tracker.cpp
+++ b/src/processor_tracker.cpp
@@ -53,7 +53,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
             KFPackPtr pack = kf_pack_buffer_.selectPack( incoming_ptr_, time_tolerance_);
             kf_pack_buffer_.removeUpTo( incoming_ptr_->getTimeStamp() );
 
-            WOLF_DEBUG( "PT: KF" , pack->key_frame->id() , " callback received with ts= " , pack->key_frame->getTimeStamp().get() );
+            WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
 
             // Append incoming to KF
             pack->key_frame->addCapture(incoming_ptr_);
@@ -89,6 +89,10 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
             break;
         }
         case SECOND_TIME_WITH_PACK :
+        {
+            KFPackPtr pack = kf_pack_buffer_.selectPack( incoming_ptr_, time_tolerance_);
+            WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
+        }
         case SECOND_TIME_WITHOUT_PACK :
         {
             FrameBasePtr frm = getProblem()->emplaceFrame(NON_KEY_FRAME, incoming_ptr_->getTimeStamp());
@@ -112,7 +116,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
             KFPackPtr pack = kf_pack_buffer_.selectPack( last_ptr_ , time_tolerance_);
             kf_pack_buffer_.removeUpTo( last_ptr_->getTimeStamp() );
 
-            WOLF_DEBUG( "PT: KF" , pack->key_frame->id() , " callback received with ts= " , pack->key_frame->getTimeStamp().get() );
+            WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
 
             processKnown();
 
diff --git a/src/processors/processor_tracker_feature_trifocal.cpp b/src/processors/processor_tracker_feature_trifocal.cpp
index 5db65175984a3e5cb3933b487a4e0b1609e20706..e6de65c4f57b60e64e9ecbf5374bc8614269ede9 100644
--- a/src/processors/processor_tracker_feature_trifocal.cpp
+++ b/src/processors/processor_tracker_feature_trifocal.cpp
@@ -23,6 +23,7 @@ ProcessorTrackerFeatureTrifocal::ProcessorTrackerFeatureTrifocal(const Processor
         prev_origin_ptr_(nullptr),
         initialized_(false)
 {
+    setName(_params.name);
     assert(!(params_.yaml_file_params_vision_utils.empty()) && "Missing YAML file with vision_utils parameters!");
     assert(file_exists(params_.yaml_file_params_vision_utils) && "Cannot setup processor: vision_utils' YAML file does not exist.");
 
diff --git a/src/test/gtest_processor_tracker_feature_trifocal.cpp b/src/test/gtest_processor_tracker_feature_trifocal.cpp
index 30e27e56ded25f77bb4eab24ef2e1fc387c96066..669c61566da78b8d09e71e73299eab81f6430586 100644
--- a/src/test/gtest_processor_tracker_feature_trifocal.cpp
+++ b/src/test/gtest_processor_tracker_feature_trifocal.cpp
@@ -84,6 +84,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
                                                          intr);
 
     ProcessorParamsTrackerFeatureTrifocal params_trifocal;
+    params_trifocal.name = "trifocal";
     params_trifocal.time_tolerance = dt/2;
     params_trifocal.max_new_features = 5;
     params_trifocal.min_features_for_keyframe = 5;