New features to debug detection nodes: detections from all cameras can be visualized in real time in RViz from the topic "/detector/markers_array" of type "MarkerArray".
Detections coming from different cameras have different colors and different "namespace". Thus, from RViz it is possible to select only detections coming from a particular sensor by selecting the correct namespace.
Moreover, a "PointCloud2" message can be visualized by selecting topic "/detector/history" which shows trajectories of all detections (different cameras <-> different colors).