Merge remote-tracking branch 'origin/devel' into devel

yaml/publisher_vision_debug.yaml

@@ -2,20 +2,21 @@ tracks:
     show_id: true
     size_id: 0.5
     thickness: 1.5
-    color: "CYAN"
-    min_lum: 100
-    max_lum: 450
-    feature_last:
-        thickness: -1
-        size_pix: 2
-        color: "RED"
-    feature_kfs:
-        thickness: 0.1
-        size_pix: 1
-
-tracks_preprocess:
-    show: false
-    show_on_diff_topic: false
+    min_max_on_alive_tracks: false  
+    color: "CYAN"                   # color of the tracks and feature_kfs
+    min_lum: 100                    # above 0
+    max_lum: 450                    # below 510
+    feature_last:                   # features of the last frame
+        thickness: -1               # -1 -> filled circle
+        size_pix: 2              
+        color: "RED"              
+    feature_kfs:                    # features of the previous keyframes
+        thickness: 0.1    
+        size_pix: 1    
+    
+tracks_preprocess:                  
+    show: false                     # tracks from the preprocess are visible or not
+    show_on_diff_topic: false       # tracks from the preprocess are visible in the same image as the others tracks or not
     thickness: 1.5
     color: "CYAN"