[Feature]: Add class and velocity of object into intermediate layer and visualize

[SirMDA]

Feature Description

For functionality and better overview, especially when debugging, the classes and velocity of an object should be existing in the intermediate layer. Therefore also the visualization is important.

Definition of Done

• Add velocity and objects into the intermediate layer
• Add colors to the intermediate layer, depending on the object class
• Add velocity vectors into the intermediate layer

Testability

No response

Dependencies

No response