diff --git a/include/publisher_vision.h b/include/publisher_vision.h
index e194fa0298f48bb44411a7b2594be9c27310a02c..482d4e262dec72f1c316b968079d42ce78b0062b 100644
--- a/include/publisher_vision.h
+++ b/include/publisher_vision.h
@@ -45,7 +45,7 @@
 namespace wolf
 {
 
-enum COLOR {BLUE = 0,
+enum Color {BLUE = 0,
             GREEN, 
             YELLOW, 
             MAGENTA, 
@@ -76,14 +76,14 @@ class PublisherVisionDebug : public Publisher
         struct Feature {
                 double thickness_;
                 int size_pix_;
-                COLOR color_;
+                Color color_;
         }; 
         
         struct Tracks {
             bool show_id_;
             double size_id_;
             double thickness_;
-            COLOR color_;
+            Color color_;
             int min_luminosity_;
             int max_luminosity_;
             struct Feature feature_last_;
@@ -93,13 +93,13 @@ class PublisherVisionDebug : public Publisher
             bool show_;
             bool show_on_diff_topic_;
             double thickness_;
-            COLOR color_;
+            Color color_;
         };
         struct Landmarks {
             bool show_id_;
             double size_id_;
             int size_pix_;
-            COLOR color_;
+            Color color_;
         };
 
         Tracks tracks_;
@@ -112,27 +112,30 @@ class PublisherVisionDebug : public Publisher
 
     private:
         /*
-            Convert a string corresponding to a color to its corresponding COLOR enum value
+            Convert a string corresponding to a color to its corresponding Color enum value
         */
-        COLOR colorStringToEnum(const std::string _color);
+        Color                       colorStringToEnum(const std::string _color);
 
         /*
             Search for the maximum and minimum of features in one track in the track matrix
         */
-        std::pair<int,int> minMaxFeatureInTrack(const std::map<SizeStd, Track>& _tracks) const;
+        std::pair<int,int>          minMaxFeatureInTrack(const std::map<SizeStd, Track>& _tracks) const;
 
         /*
             Return a unique RGB color vector depending on the lenght of the track given,
             so the longer is the track the darker it is
         */
-        std::vector<int> colorTrackAndFeatures(int _nb_feature_in_track, int _max_feature_in_tracks, int _min_feature_in_tracks, COLOR _color_of_features);
-
-        std::vector<int> primaryColor(COLOR _color_of_lmks);
+        std::vector<int>            colorTrackAndFeatures(int _nb_feature_in_track, int _max_feature_in_tracks, int _min_feature_in_tracks, Color _color_of_features);
+        
+        /*
+            Return a  RGB color vector coresponding to the color asked
+        */
+        std::vector<int>            primaryColor(Color _color_of_lmks);
 
         /*
             Change an image to show tracks and features within it
         */
-        void showTracks(cv::Mat _image, const TrackMatrix& _track_matrix, CaptureBasePtr _cap_img);
+        void                        showTracks(cv::Mat _image, const TrackMatrix& _track_matrix, CaptureBasePtr _cap_img);
         
         /*
             Return the transformation from world to camera
@@ -169,6 +172,9 @@ class PublisherVisionDebug : public Publisher
         */
         void                        showLandmarks        (cv::Mat _image, const TrackMatrix& _track_matrix, const CaptureBasePtr& _cap);
 
+        /*
+            Change an image to show tracks and features from the preprocess within it
+        */
         void                        showTracksPreprocess (cv::Mat _image, const CaptureImagePtr& _origin, const CaptureImagePtr& _last);
 };
 
diff --git a/src/publisher_vision.cpp b/src/publisher_vision.cpp
index b142968d40847b90a83ed9b1611588118e49cd0f..b1a74596038d39b97fb24ecfbaa04ad3a160e811 100644
--- a/src/publisher_vision.cpp
+++ b/src/publisher_vision.cpp
@@ -39,25 +39,25 @@
 namespace wolf
 {
 
-COLOR PublisherVisionDebug::colorStringToEnum(const std::string _color)
+Color PublisherVisionDebug::colorStringToEnum(const std::string _color)
 {
   if (_color == "BLUE")
-    return COLOR::BLUE;
+    return Color::BLUE;
   else if (_color == "GREEN")
-    return COLOR::GREEN;
+    return Color::GREEN;
   else if (_color == "YELLOW")
-    return COLOR::YELLOW;
+    return Color::YELLOW;
   else if (_color == "MAGENTA")
-    return COLOR::MAGENTA;
+    return Color::MAGENTA;
   else if (_color == "CYAN")
-    return COLOR::CYAN;
+    return Color::CYAN;
   else if (_color == "GREY")
-    return COLOR::GREY;
+    return Color::GREY;
   else if (_color == "RED")
-    return COLOR::RED;
+    return Color::RED;
   else {
       std::cout << _color << " color not available! Defaulting to CYAN." << std::endl;
-    return COLOR::CYAN; 
+    return Color::CYAN; 
   }
 }
 
@@ -175,7 +175,7 @@ void PublisherVisionDebug::publishDerived()
         cv::cvtColor(cap_img->getImage(), cv_img_debug_preprocess, cv::COLOR_GRAY2BGR);
 
         cv::cvtColor(cap_img->getImage(), cv_img_debug, cv::COLOR_GRAY2BGR);
-//        cv::cvtColor(cap_img_origin->getImage(), cv_img_debug, cv::COLOR_GRAY2BGR);
+//        cv::cvtColor(cap_img_origin->getImage(), cv_img_debug, cv::Color_GRAY2BGR);
 
         // Draw all tracks
         showTracks(cv_img_debug, track_matrix, cap_img);
@@ -247,7 +247,7 @@ std::pair<int, int> PublisherVisionDebug::minMaxFeatureInTrack(const std::map<Si
 std::vector<int> PublisherVisionDebug::colorTrackAndFeatures(int _nb_feature_in_track,
                                                              int _max_feature_in_tracks,
                                                              int _min_feature_in_tracks,
-                                                             COLOR _color_of_features)
+                                                             Color _color_of_features)
 {
 
     // std::cout << "\n\ncolorTrackAndFeatures" << '\n';
@@ -319,7 +319,7 @@ std::vector<int> PublisherVisionDebug::colorTrackAndFeatures(int _nb_feature_in_
     return color;
 }
 
-std::vector<int> PublisherVisionDebug::primaryColor(COLOR _color)
+std::vector<int> PublisherVisionDebug::primaryColor(Color _color)
 {
   std::vector<int> color = {0, 0, 0};