diff --git a/algorithm/sv_algorithm_base.cpp b/algorithm/sv_algorithm_base.cpp
index e059fe7..1745559 100644
--- a/algorithm/sv_algorithm_base.cpp
+++ b/algorithm/sv_algorithm_base.cpp
@@ -80,6 +80,12 @@ ArucoDetector::ArucoDetector()
 }
 
 
+void ArucoDetector::getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_)
+{
+  ids_ = this->_ids_need;
+  lengths_ = this->_lengths_need;
+}
+
 void ArucoDetector::_load()
 {
   JsonValue all_value;
diff --git a/include/sv_algorithm_base.h b/include/sv_algorithm_base.h
index 1e17993..249ffdd 100644
--- a/include/sv_algorithm_base.h
+++ b/include/sv_algorithm_base.h
@@ -46,6 +46,7 @@ class ArucoDetector : public CameraAlgorithm
 public:
   ArucoDetector();
   void detect(cv::Mat img_, TargetsInFrame& tgts_);
+  void getIdsWithLengths(std::vector<int>& ids_, std::vector<double>& lengths_);
 private:
   void _load();
   bool _params_loaded;
diff --git a/include/sv_video_base.h b/include/sv_video_base.h
index 55e1519..64fd2cd 100644
--- a/include/sv_video_base.h
+++ b/include/sv_video_base.h
@@ -128,6 +128,7 @@ public:
   
   bool getBox(Box& b);
   bool getAruco(int& id, std::vector<cv::Point2f> &corners);
+  bool getAruco(int& id, std::vector<cv::Point2f> &corners, cv::Vec3d &rvecs, cv::Vec3d &tvecs);
   bool getEllipse(double& xc_, double& yc_, double& a_, double& b_, double& rad_);
   std::string getJsonStr();
 
diff --git a/video_io/sv_video_base.cpp b/video_io/sv_video_base.cpp
index 3a78973..e7530ad 100644
--- a/video_io/sv_video_base.cpp
+++ b/video_io/sv_video_base.cpp
@@ -588,6 +588,15 @@ bool Target::getAruco(int& id, std::vector<cv::Point2f> &corners)
   return this->has_aruco;
 }
 
+bool Target::getAruco(int& id, std::vector<cv::Point2f> &corners, cv::Vec3d &rvecs, cv::Vec3d &tvecs)
+{
+  id = this->_a_id;
+  corners = this->_a_corners;
+  rvecs = this->_a_rvecs;
+  tvecs = this->_a_tvecs;
+  return this->has_aruco;
+}
+
 bool Target::getBox(Box& b)
 {
   b = this->_b_box;