diff --git a/include/publisher_vision.h b/include/publisher_vision.h
index 40931d745eb7429e2eaa7a53765e453ee98510e5..2c507182dae0b48ef493c2fb55da9b5d7c80f749 100644
--- a/include/publisher_vision.h
+++ b/include/publisher_vision.h
@@ -92,13 +92,40 @@ class PublisherVisionDebug : public Publisher
             Function that change an image to show tracks and features within it
         */
         void showTracks(cv::Mat _image, const TrackMatrix& _track_matrix, CaptureBasePtr _cap_img, COLORFEATURES _color_of_features, bool _show_track_ID);
-
-        Eigen::Vector2d             projectLandmarkHp    (const Eigen::Matrix<double, 3, 4>& _trf_proj_mat, const LandmarkBasePtr _lmk);
-        LandmarkBasePtr             getAssociatedLandmark(const TrackMatrix& _track_matrix, const FeatureBasePtr& _ftr);
-        Eigen::Matrix<double, 3, 4> getProjectionMatrix  (const CaptureBasePtr _capture) const;
+        
+        /*
+            Function that return the transformation from world to camera
+        */
         Eigen::Isometry3d           getTcw               (const CaptureBasePtr _capture) const;
+
+        /*
+            Function that transform Tcw into matrix for multiplication purpose
+        */
         Eigen::Matrix4d             getTcwMatrix         (const CaptureBasePtr _capture) const;
+        
+        /*
+            Function that return the projection matrix of a sensor (linked to a capture)
+        */
+        Eigen::Matrix<double, 3, 4> getProjectionMatrix  (const CaptureBasePtr _capture) const;
+
+        /*
+            Function that return only the landmark associated to a feature in last keyframes
+        */
+        LandmarkBasePtr             getAssociatedLandmark(const TrackMatrix& _track_matrix, const FeatureBasePtr& _ftr);
+
+        /*
+            Function that return the projection of a landmark in the frame
+        */
+        Eigen::Vector2d             projectLandmarkHp    (const Eigen::Matrix<double, 3, 4>& _trf_proj_mat, const LandmarkBasePtr _lmk);
+        
+        /*
+            Function that print one landmark into the capture
+        */
         void                        showLandmark         (cv::Mat _image, const TrackMatrix& _track_matrix, const FeatureBasePtr& _ftr, bool _show_landmark_ID);
+        
+        /*
+            Function that print all of the landmarks associated with the capture
+        */
         void                        showLandmarks        (cv::Mat _image, const TrackMatrix& _track_matrix, const CaptureBasePtr& _cap, bool _show_landmark_ID);
 
 };