diff --git a/include/publisher_vision.h b/include/publisher_vision.h
index f77ee79042d1484c7ec3375f207a6043f461aa01..c598431b4188b2f8f57151259cf1e280e15e949a 100644
--- a/include/publisher_vision.h
+++ b/include/publisher_vision.h
@@ -93,10 +93,10 @@ class PublisherVisionDebug : public Publisher
         */
         void showTracks(cv::Mat _image, const TrackMatrix& _track_matrix, CaptureBasePtr _cap_img, COLORFEATURES _color_of_features, bool _show_track_ID);
 
-        Eigen::Vector2d             getPixelLandmark(const LandmarkBasePtr _lmk, const CaptureBasePtr _capture) const;
-        Eigen::Matrix<double, 3, 4> getProjectionMatrix(const CaptureBasePtr _capture) const;
-        Eigen::Isometry3d           getTcw(const CaptureBasePtr _capture) const;
-        Eigen::Matrix4d             getTcwMatrix(const CaptureBasePtr _capture) const;
+        Eigen::Vector2d             projectLandmarkHp   (const LandmarkBasePtr _lmk, const CaptureBasePtr _capture) const;
+        Eigen::Matrix<double, 3, 4> getProjectionMatrix (const CaptureBasePtr _capture) const;
+        Eigen::Isometry3d           getTcw              (const CaptureBasePtr _capture) const;
+        Eigen::Matrix4d             getTcwMatrix        (const CaptureBasePtr _capture) const;
 
 };
 
diff --git a/src/publisher_vision.cpp b/src/publisher_vision.cpp
index 01f0fa0287f4e04165151cd7f5105b5c6dd0a334..c19faddf60eb3c57e0ac24ed1e21d0cf9907e57e 100644
--- a/src/publisher_vision.cpp
+++ b/src/publisher_vision.cpp
@@ -351,7 +351,7 @@ Eigen::Matrix<double, 3, 4> PublisherVisionDebug::getProjectionMatrix(const Capt
     return P;
 }
 
-Eigen::Vector2d PublisherVisionDebug::getPixelLandmark(const LandmarkBasePtr _lmk, const CaptureBasePtr _capture) const
+Eigen::Vector2d PublisherVisionDebug::projectLandmarkHp(const LandmarkBasePtr _lmk, const CaptureBasePtr _capture) const
 {
     auto pos = _lmk->getP()->getState();
     Eigen::Vector3d pixel_position3 = getProjectionMatrix(_capture) * getTcwMatrix(_capture) * pos;