diff --git a/Feature.cpp b/Feature.cpp
index cc8781e..cfec29a 100644
--- a/Feature.cpp
+++ b/Feature.cpp
@@ -1,5 +1,7 @@
 #include "Feature.h"
 
+cv::RNG rng(123);
+
 Feature::Feature(float *point, const cv::Mat &description) {
     // Relative motion in last frame; zero for new point
     d[0] = 0;
@@ -13,6 +15,8 @@ Feature::Feature(float *point, const cv::Mat &description) {
     desc = description;
     // Assign default uncertainty
     u = UNCERTAINTY;
+
+    color = cv::Scalar(rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255));
 }
 
 void Feature::add_match(const float *point, const cv::Mat &description, const float *upper_estimation) {
diff --git a/Feature.h b/Feature.h
index 5dbd7cf..d8b916b 100644
--- a/Feature.h
+++ b/Feature.h
@@ -18,6 +18,8 @@ struct Feature {
     // ORB descriptor
     cv::Mat desc;
 
+    cv::Scalar color;
+
     Feature(float *point, const cv::Mat &description);
 
     void add_match(const float *point, const cv::Mat &description, const float *upper_estimation);
diff --git a/Layer.h b/Layer.h
index 4b21d43..ae1db55 100644
--- a/Layer.h
+++ b/Layer.h
@@ -15,6 +15,8 @@ class Layer {
 
     // Pair points with estimation from layer above
     virtual void pair(Layer *layer_above) {};
+
+    virtual void draw(const cv::Mat &frame) {};
 };
 
 #endif //GPU_ORB_TRACKER_LAYER_H
diff --git a/Motion.cpp b/Motion.cpp
index b2ffd2d..3334214 100644
--- a/Motion.cpp
+++ b/Motion.cpp
@@ -39,3 +39,13 @@ void Motion::add_frame(const std::vector<cv::KeyPoint> &points, const cv::Mat &d
         layers[i - 1]->pair(layers[i]);
     }
 }
+
+void Motion::show(const cv::Mat &frame) {
+    cv::Mat color;
+    cv::cvtColor(frame,color,cv::COLOR_GRAY2BGR);
+    for (unsigned i = OCTAVES; i > 0; i--) {
+        layers[i]->draw(color);
+    }
+    cv::imshow("Hierarchical",color);
+    cv::waitKey(1);
+}
diff --git a/Motion.h b/Motion.h
index 722ac38..8a716e4 100644
--- a/Motion.h
+++ b/Motion.h
@@ -16,6 +16,8 @@ class Motion {
     ~Motion();
 
     void add_frame(const std::vector<cv::KeyPoint> &points, const cv::Mat &descriptors);
+
+    void show(const cv::Mat &frame);
 };
 
 #endif //GPU_ORB_TRACKER_MOTION_H
diff --git a/PointLayer.cpp b/PointLayer.cpp
index c3e4149..c7aa39e 100644
--- a/PointLayer.cpp
+++ b/PointLayer.cpp
@@ -105,3 +105,14 @@ void PointLayer::estimate(float *in, float *out) {
         out[1] = 0;
     }
 }
+
+void PointLayer::draw(const cv::Mat &frame) {
+    for (auto &i:active) {
+        for (auto h = i.history.begin(), h_end = i.history.end();;) {
+            auto h_old = h++;
+            if (h == h_end) { break; }
+            cv::arrowedLine(frame, h_old->second, h->second,
+                        i.color, 1, cv::LINE_AA, 0, 0.2);
+        }
+    }
+}
\ No newline at end of file
diff --git a/PointLayer.h b/PointLayer.h
index 047e9b2..0086ca7 100644
--- a/PointLayer.h
+++ b/PointLayer.h
@@ -47,6 +47,8 @@ class PointLayer : public Layer {
     void estimate(float *in, float *out) override;
 
     void pair(Layer *layer_above) override;
+
+    void draw(const cv::Mat &frame) override;
 };
 
 #endif //GPU_ORB_TRACKER_POINTLAYER_H
diff --git a/main.cpp b/main.cpp
index d75d147..50ccd2e 100644
--- a/main.cpp
+++ b/main.cpp
@@ -50,6 +50,7 @@ int main(int argc, char *argv[]) {
         gpu_desc.download(cpu_desc);
 
         motion.add_frame(points, cpu_desc);
+        motion.show(cpu_gray);
 
         frame_number++;
     }