diff --git a/include/sv_video_base.h b/include/sv_video_base.h
index f026ea3..18e403e 100644
--- a/include/sv_video_base.h
+++ b/include/sv_video_base.h
@@ -377,6 +377,19 @@ protected:
   double _exposure;
 };
 
+void drawTargetsInFrame(
+  cv::Mat& img_,
+  const TargetsInFrame& tgts_,
+  int aruco_track_id,
+  bool with_all=true,
+  bool with_category=false,
+  bool with_tid=false,
+  bool with_seg=false,
+  bool with_box=false,
+  bool with_ell=false,
+  bool with_aruco=false,
+  bool with_yaw=false
+);
 
 void drawTargetsInFrame(
   cv::Mat& img_,
diff --git a/video_io/sv_video_base.cpp b/video_io/sv_video_base.cpp
index ea57b54..2b1af95 100644
--- a/video_io/sv_video_base.cpp
+++ b/video_io/sv_video_base.cpp
@@ -367,6 +367,56 @@ void UDPServer::send(const TargetsInFrame& tgts_)
   int r = sendto(this->_sockfd, upd_msg, mp, 0, (struct sockaddr *)&this->_servaddr, sizeof(this->_servaddr));
 }
 
+void drawTargetsInFrame(
+  cv::Mat& img_,
+  const TargetsInFrame& tgts_,
+  int aruco_track_id,
+  bool with_all,
+  bool with_category,
+  bool with_tid,
+  bool with_seg,
+  bool with_box,
+  bool with_ell,
+  bool with_aruco,
+  bool with_yaw
+)
+{
+  if (tgts_.rois.size() > 0 )
+  {
+    cv::Mat image_ret;
+    cv::addWeighted(img_, 0.5, cv::Mat::zeros(cv::Size(img_.cols, img_.rows), CV_8UC3), 0, 0, image_ret);
+    cv::Rect roi = cv::Rect(tgts_.rois[0].x1, tgts_.rois[0].y1, tgts_.rois[0].x2 - tgts_.rois[0].x1, tgts_.rois[0].y2 - tgts_.rois[0].y1);
+    img_(roi).copyTo(image_ret(roi));
+    image_ret.copyTo(img_);
+  }
+  std::vector<std::vector<cv::Point2f> > aruco_corners;
+  std::vector<int> aruco_ids;
+  for (Target tgt : tgts_.targets)
+  {
+    if ((with_all || with_aruco) && tgt.has_aruco && (tgt.tracked_id == aruco_track_id))
+    {
+      std::vector<cv::Point2f> a_corners;
+      int a_id;
+      if (tgt.getAruco(a_id, a_corners))  { aruco_ids.push_back(a_id); aruco_corners.push_back(a_corners); }
+      cv::circle(img_, cv::Point(int(tgt.cx * tgts_.width), int(tgt.cy * tgts_.height)), 4, cv::Scalar(0,255,0), 2);
+    }
+    if ((with_all || with_box) && tgt.has_box && (tgt.tracked_id == aruco_track_id))
+    {
+      Box b;
+      tgt.getBox(b);
+      cv::rectangle(img_, cv::Rect(b.x1, b.y1, b.x2-b.x1+1, b.y2-b.y1+1), cv::Scalar(0,0,255), 1, 1, 0);
+      if ((with_all || with_category) && tgt.has_category)
+      {
+        cv::putText(img_, tgt.category, cv::Point(b.x1, b.y1-4), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(255,0,0));
+      }
+    }
+  }
+  if ((with_all || with_aruco) && aruco_ids.size() > 0)
+  {
+    cv::aruco::drawDetectedMarkers(img_, aruco_corners, aruco_ids);
+  }
+}
+
 
 void drawTargetsInFrame(
   cv::Mat& img_,