Tracking API doc update and test-perftest TLD tracker

I have updated the documentation for the tracking API and I have modified it to achieve the automatic generation of UML diagrams with plantuml.
Also, I have removed the debug prints in TLD tracker and I have created the tests (OPE, SRE and TRE) and the perf test for TLD tracker. 
For the perf test I made a pull request in opencv_extra repository to add the sanity data for this tracker algorithm: https://github.com/Itseez/opencv_extra/pull/221
cc: @nailbiter