diff --git a/trackdlo/src/trackdlo_node.cpp b/trackdlo/src/trackdlo_node.cpp
index 60da200..2b902b8 100644
--- a/trackdlo/src/trackdlo_node.cpp
+++ b/trackdlo/src/trackdlo_node.cpp
@@ -347,10 +347,10 @@ sensor_msgs::ImagePtr Callback(const sensor_msgs::ImageConstPtr& image_msg, cons
             double y1 = row_1;
             double x2 = col_2;
             double y2 = row_2;
-            x1 = x1 + (0.25*dlo_pixel_width) / sqrt(pow(x1-x2, 2) + pow(y1-y2, 2)) * (x2 - x1);
-            y1 = y1 + (0.25*dlo_pixel_width) / sqrt(pow(x1-x2, 2) + pow(y1-y2, 2)) * (y2 - y1);
-            x2 = x2 + (0.25*dlo_pixel_width) / sqrt(pow(x1-x2, 2) + pow(y1-y2, 2)) * (x1 - x2);
-            y2 = y2 + (0.25*dlo_pixel_width) / sqrt(pow(x1-x2, 2) + pow(y1-y2, 2)) * (y1 - y2);
+            // x1 = x1 + (0.25*dlo_pixel_width) / sqrt(pow(x1-x2, 2) + pow(y1-y2, 2)) * (x2 - x1);
+            // y1 = y1 + (0.25*dlo_pixel_width) / sqrt(pow(x1-x2, 2) + pow(y1-y2, 2)) * (y2 - y1);
+            // x2 = x2 + (0.25*dlo_pixel_width) / sqrt(pow(x1-x2, 2) + pow(y1-y2, 2)) * (x1 - x2);
+            // y2 = y2 + (0.25*dlo_pixel_width) / sqrt(pow(x1-x2, 2) + pow(y1-y2, 2)) * (y1 - y2);
             cv::line(projected_edges, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(255, 255, 255), dlo_pixel_width);
         }
 
diff --git a/trackdlo/src/utils.cpp b/trackdlo/src/utils.cpp
index ae03ec6..aa8f22f 100644
--- a/trackdlo/src/utils.cpp
+++ b/trackdlo/src/utils.cpp
@@ -263,7 +263,7 @@ visualization_msgs::MarkerArray MatrixXd2MarkerArray (MatrixXd Y,
         // cur_node_result.header.stamp = ros::Time::now();
         cur_node_result.type = visualization_msgs::Marker::SPHERE;
         cur_node_result.action = visualization_msgs::Marker::ADD;
-        cur_node_result.ns = marker_ns + std::to_string(i);
+        cur_node_result.ns = marker_ns + "_node_" + std::to_string(i);
         cur_node_result.id = i;
 
         // add position
@@ -309,10 +309,10 @@ visualization_msgs::MarkerArray MatrixXd2MarkerArray (MatrixXd Y,
         visualization_msgs::Marker cur_line_result = visualization_msgs::Marker();
 
         // add header
-        cur_line_result.header.frame_id = "camera_color_optical_frame";
+        cur_line_result.header.frame_id = marker_frame;
         cur_line_result.type = visualization_msgs::Marker::CYLINDER;
         cur_line_result.action = visualization_msgs::Marker::ADD;
-        cur_line_result.ns = "line_results" + std::to_string(i);
+        cur_line_result.ns = marker_ns + "_line_" + std::to_string(i);
         cur_line_result.id = i;
 
         // add position
@@ -381,7 +381,7 @@ visualization_msgs::MarkerArray MatrixXd2MarkerArray (std::vector<MatrixXd> Y,
         // cur_node_result.header.stamp = ros::Time::now();
         cur_node_result.type = visualization_msgs::Marker::SPHERE;
         cur_node_result.action = visualization_msgs::Marker::ADD;
-        cur_node_result.ns = marker_ns + std::to_string(i);
+        cur_node_result.ns = marker_ns + "_node_" + std::to_string(i);
         cur_node_result.id = i;
 
         // add position
@@ -427,10 +427,10 @@ visualization_msgs::MarkerArray MatrixXd2MarkerArray (std::vector<MatrixXd> Y,
         visualization_msgs::Marker cur_line_result = visualization_msgs::Marker();
 
         // add header
-        cur_line_result.header.frame_id = "camera_color_optical_frame";
+        cur_line_result.header.frame_id = marker_frame;
         cur_line_result.type = visualization_msgs::Marker::CYLINDER;
         cur_line_result.action = visualization_msgs::Marker::ADD;
-        cur_line_result.ns = "line_results" + std::to_string(i);
+        cur_line_result.ns = marker_ns + "_line_" + std::to_string(i);
         cur_line_result.id = i;
 
         // add position