diff --git a/libs/perception/container.py b/libs/perception/container.py
index 3f31447..f9bf2c4 100755
--- a/libs/perception/container.py
+++ b/libs/perception/container.py
@@ -4,7 +4,7 @@
 # Authors: 
 #   - Yik Lung Pang: y.l.pang@qmul.ac.uk
 #   - Alessio Xompero: a.xompero@qmul.ac.uk
-#
+#   - Tommaso Apicella: t.apicella@qmul.ac.uk
 # MIT License
 
 # Copyright (c) 2021 CORSMAL
@@ -219,6 +219,7 @@ def __init__(self, args, ncams):
 
         self.zt1 = None
         self.zt = None
+        self.visualise_LoDE = args.visualise_LoDE
         
 
 
@@ -301,7 +302,7 @@ def computeAnglesRad(self):
 
         self.anglesrad = anglesrad
     
-    def ShapeFitting(self, _c1, _c2, _objmask1, _objmask2, h_step, r_step):
+    def ShapeFitting(self, _c1, _c2, _objmask1, _objmask2, h_step, r_step, rgb1, rgb2):
 
         c1 = copy.deepcopy(_c1)
         c2 = copy.deepcopy(_c2)
@@ -382,7 +383,19 @@ def ShapeFitting(self, _c1, _c2, _objmask1, _objmask2, h_step, r_step):
 
                 if (np.count_nonzero(areIn_c1) == areIn_c1.shape[0]) and (np.count_nonzero(areIn_c2) == areIn_c2.shape[0]):
                     converged_circ = True
-                    break
+                    if self.visualise_LoDE:
+                        for p, isIn in zip(p2d_c1, areIn_c1):
+                            if isIn:
+                                cv2.circle(rgb1, (int(p[0]), int(p[1])), 2, (255, 0, 0), -1)
+                            else:
+                                cv2.circle(rgb1, (int(p[0]), int(p[1])), 2, (0, 0, 255), -1)
+
+                        for p, isIn in zip(p2d_c2, areIn_c2):
+                            if isIn:
+                                cv2.circle(rgb2, (int(p[0]), int(p[1])), 2, (255, 0, 0), -1)
+                            else:
+                                cv2.circle(rgb2, (int(p[0]), int(p[1])), 2, (0, 0, 255), -1)
+                        break
                 
                 if rad==minDiameter/2:
                     break
@@ -400,6 +413,12 @@ def ShapeFitting(self, _c1, _c2, _objmask1, _objmask2, h_step, r_step):
         self.estRadius = convRadius[round(0.1*len(convRadius)):round(0.9*len(convRadius))]
         self.estHeights = convHeights[round(0.1*len(convHeights)):round(0.9*len(convHeights))]
 
+        if self.visualise_LoDE:
+            dim = (rgb1.shape[1] // 2, rgb2.shape[0] // 2)
+            cv2.imshow("LoDE [blue] and object mask [green]", np.hstack([cv2.resize(rgb1, dim, interpolation=cv2.INTER_AREA),
+                                                              cv2.resize(rgb2, dim, interpolation=cv2.INTER_AREA)]))
+            cv2.waitKey(10)
+
 
     # Localisation and dimension estimation via shape reconstruction in 3D
     # Output: 
@@ -462,7 +481,7 @@ def LoDE(self, rgb1, rgb2, c1, c2, instances1, instances2, h_step, r_step):
             objmask2 = np.uint8(255.* (instances2['masks'][j] >= 0.5))
 
         # print('ShapeFitting')
-        self.ShapeFitting(c1, c2, objmask1, objmask2, h_step, r_step)
+        self.ShapeFitting(c1, c2, objmask1, objmask2, h_step, r_step, rgb1, rgb2)
 
         # print('ComputeDimensions')
         # Compute container dimensions
diff --git a/perception_pipeline.py b/perception_pipeline.py
index 7ba9580..78d3ce1 100644
--- a/perception_pipeline.py
+++ b/perception_pipeline.py
@@ -4,11 +4,12 @@
 #        Author: Ricardo Sanchez Matilla
 #        Author: Yik Lung Pang
 #        Author: Alessio Xompero
+#        Author: Tommaso Apicella
 #         Email: corsmal-benchmark@qmul.ac.uk
 #
 #
 #  Created Date: 2020/02/13
-# Modified Date: 2020/10/05
+# Modified Date: 2022/10/24
 #
 # Centre for Intelligent Sensing, Queen Mary University of London, UK
 # 
@@ -137,6 +138,7 @@ def PublicTestingDataParser(args):
     parser.add_argument('--use_LoDE', type=int, choices=[0,1], default=0)
     parser.add_argument('--LoDE_hstep', type=float, default=0.001)
     parser.add_argument('--LoDE_rstep', type=float, default=18.0)
+    parser.add_argument('--visualise_LoDE', type=bool, default=False)
     parser.add_argument('--record', type=int, choices=[0,1], default=0)
     parser.add_argument('--max_num_frames', type=int, default=-1)
     # Path to videos