RVIZ VIO and SLAM paths seperate

Hi,

I have been using your SLAM software and I have been having some issues. First the VIO and SLAM paths in RVIZ seperate and get extremely far apart. Is this normal?

Secondly it's not at all clear what features being track actually means, is there is a way to display the features detected ontop of the image pairs so we can diagnose potential problems with tracking and see where tracking fails?

Third the information on frames is pretty confusing, to clarify what is the difference between base_frame and input_base_frame and base_link? My assumption was input_base_frame transforms the base_link to the left_camera_frame but the wording is very confusing.