diff --git a/conf/tools/display_objects.xml b/conf/tools/display_objects.xml
new file mode 100644
index 0000000000..519ffee263
--- /dev/null
+++ b/conf/tools/display_objects.xml
@@ -0,0 +1,2 @@
+<program command="sw/ground_segment/python/natnet3.x/display_objects.py" name="Display Objects from Natnet" icon="natnet3.svg" />
+
diff --git a/sw/ground_segment/python/natnet3.x/NatNetClient.py b/sw/ground_segment/python/natnet3.x/NatNetClient.py
index 9e7ceedabd..0acfaebc1f 100644
--- a/sw/ground_segment/python/natnet3.x/NatNetClient.py
+++ b/sw/ground_segment/python/natnet3.x/NatNetClient.py
@@ -13,7 +13,7 @@ FloatValue = struct.Struct( '<f' )
 DoubleValue = struct.Struct( '<d' )
 
 class NatNetClient:
-    def __init__( self, server="127.0.0.1", multicast="239.255.42.99", commandPort=1510, dataPort=1511, rigidBodyListener=None, newFrameListener=None, rigidBodyListListener=None, verbose=False, version=(3,0,0,0) ):
+    def __init__( self, server="127.0.0.1", multicast="239.255.42.99", commandPort=1510, dataPort=1511, rigidBodyListener=None, newFrameListener=None, rigidBodyListListener=None, markerSetListener=None, verbose=False, version=(3,0,0,0) ):
         # IP address of the NatNet server.
         self.serverIPAddress = server
 
@@ -36,6 +36,9 @@ class NatNetClient:
         self.rigidBodyListListener = rigidBodyListListener
         self.rigidBodyList = []
 
+        # Set this to a callback method of your choice to receive markerset data at each frame
+        self.markerSetListener = markerSetListener
+
         # NatNet stream version. This will be updated to the actual version the server is using during initialization.
         self.__natNetStreamVersion = version
 
@@ -194,10 +197,15 @@ class NatNetClient:
             offset += 4
             self.__trace( "Marker Count:", markerCount )
 
+            posList = []
             for j in range( 0, markerCount ):
                 pos = Vector3.unpack( data[offset:offset+12] )
+                posList.append(pos)
                 offset += 12
-                #self.__trace( "\tMarker", j, ":", pos[0],",", pos[1],",", pos[2] )
+                self.__trace( "\tMarker", j, ":", pos[0],",", pos[1],",", pos[2] )
+
+            if self.markerSetListener is not None:
+                self.markerSetListener(modelName, posList)
                  
         # Unlabeled markers count (4 bytes)
         unlabeledMarkersCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
diff --git a/sw/ground_segment/python/natnet3.x/display_objects.py b/sw/ground_segment/python/natnet3.x/display_objects.py
new file mode 100755
index 0000000000..9eb75603cc
--- /dev/null
+++ b/sw/ground_segment/python/natnet3.x/display_objects.py
@@ -0,0 +1,228 @@
+#!/usr/bin/env python3
+#
+# Copyright (C) 2022 Gautier Hattenberger <gautier.hattenberger@enac.fr>
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING.  If not, see
+# <http://www.gnu.org/licenses/>.
+#
+
+'''
+Receive marker set from optitrack system and display a convex hull for
+each selected objects in the GCS with the SHAPE message
+
+Exemple to display "Building_XYZ" object at Enac:
+    ./display_objects.py -r 43.5640917,1.4829201 -up z_up -n 'Building_.*'
+
+''' 
+
+import sys
+from os import path, getenv
+from time import time, sleep
+import numpy as np
+import re
+from scipy.spatial import ConvexHull
+import argparse
+
+# import NatNet client
+from NatNetClient import NatNetClient
+
+# if PAPARAZZI_HOME not set, then assume the tree containing this
+# file is a reasonable substitute
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
+sys.path.append(PPRZ_HOME + "/var/lib/python")
+from pprzlink.ivy import IvyMessagesInterface
+from pprzlink.message import PprzMessage
+
+# parse args
+parser = argparse.ArgumentParser()
+parser.add_argument('-n', '--name', dest='name', required=True, help="Regular expression of the names of the object to display")
+parser.add_argument('-r', '--ref', dest='ref', required=True, help="Reference position in lat,long format in degrees")
+parser.add_argument('-c', '--color', dest='color', default='white', help="Display color")
+parser.add_argument('-sn', '--show_name', dest='show_name', action='store_true', help="Display the name of the object")
+parser.add_argument('-t', '--timeout', dest='timeout', default=2., type=float, help="Timeout for removing object from scene")
+parser.add_argument('-th', '--threshold', dest='threshold', default=0.1, type=float, help="Threshold distance to consider a moving object in meter")
+parser.add_argument('-b', '--ivy_bus', dest='ivy_bus', help="Ivy bus address and port")
+parser.add_argument('-s', '--server', dest='server', default="127.0.0.1", help="NatNet server IP address")
+parser.add_argument('-m', '--multicast_addr', dest='multicast', default="239.255.42.99", help="NatNet server multicast address")
+parser.add_argument('-dp', '--data_port', dest='data_port', type=int, default=1511, help="NatNet server data socket UDP port")
+parser.add_argument('-cp', '--command_port', dest='command_port', type=int, default=1510, help="NatNet server command socket UDP port")
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true', help="display debug messages")
+parser.add_argument('-vv', '--very_verbose', dest='very_verbose', action='store_true', help="display debug messages and optitrack debug messages")
+parser.add_argument('-f', '--freq', dest='freq', default=1., type=float, help="transmit frequency")
+parser.add_argument('-rp', '--refresh_period', dest='refresh_period', default=4., type=float, help="refresh period at which message is sent event if the object is not moving")
+parser.add_argument('-up', '--up_axis', dest='up_axis', choices=['y_up', 'z_up'], default='y_up', help="Optitrack Up axis: y_up or z_up.")
+parser.add_argument('-o', '--old_natnet', dest='old_natnet', action='store_true', help="Change the NatNet version to 2.9")
+
+args = parser.parse_args()
+
+# message period
+period = 1./args.freq
+# mean earth radius from IUGG
+R_earth = 6371008.7714
+# reference position lat0, long0
+lat0, long0 = args.ref.split(",")
+lat0 = float(lat0)
+R_cos_lat0 = R_earth*np.cos(np.deg2rad(lat0))
+long0 = float(long0)
+# dictionary of id and received time by set name
+markerset = {}
+current_index = 1
+# index of horizontal X and Y coordinates
+X_AXIS = 0
+if args.up_axis == 'y_up':
+    Y_AXIS = 2
+    Y_SIGN = -1
+else:
+    Y_AXIS = 1
+    Y_SIGN = 1
+
+# start ivy interface
+if args.ivy_bus is not None:
+    ivy = IvyMessagesInterface("display_objects", ivy_bus=args.ivy_bus)
+else:
+    ivy = IvyMessagesInterface("display_objects")
+
+def is_moving(old_pos, new_pos):
+    '''
+    check if the markerset position have changed (at least one of the marker)
+    '''
+    try:
+        for po, pn in zip(old_pos, new_pos):
+            if abs(po[0]-pn[0]) > args.threshold or abs(po[1]-pn[1]) > args.threshold or abs(po[2] - pn[2]) > args.threshold:
+                return True # at least one marker has moved
+        return False # object has not moved
+    except:
+        # if failing, update position
+        return True
+
+def receiveMarkerSet(name, posList):
+    '''
+    callback for markerset with name and marker position as input
+    '''
+    global current_index
+
+    # check if name is matching regexp
+    name = name.decode('utf-8')
+    if re.fullmatch(args.name, name) is not None:
+
+        # check if message should be sent (first time or period)
+        send = False
+        now = time()
+        if name in markerset:
+            dt = now - markerset[name]['time']
+            dt_refresh = now - markerset[name]['time_refresh']
+            if dt >= period:
+                # period elapsed, check if moved
+                markerset[name]['time'] = now
+                moved = is_moving(markerset[name]['pos'], posList)
+                if moved:
+                    send = True
+                    markerset[name]['pos'] = posList
+            if dt_refresh >= args.refresh_period:
+                # refresh period elapsed, send anyway
+                send = True
+        else:
+            send = True
+            markerset[name] = {'time_refresh': now, 'time': now, 'id': current_index, 'pos': posList }
+            current_index += 1
+
+        if args.very_verbose:
+            print(name, posList, time)
+
+        if send:
+            if args.verbose and (not args.very_verbose):
+                print(name, posList, now)
+
+            # build list of 2D points and compute convex hull
+            points = [(pos[X_AXIS], Y_SIGN*pos[Y_AXIS]) for pos in posList]
+            hull = ConvexHull(points)
+            # build lists of polygon corners to display in lat long
+            latitudes = [ int(1e7 * (lat0 + np.rad2deg(points[i][1] / R_earth))) for i in hull.vertices ]
+            longitudes = [ int(1e7 * (long0 + np.rad2deg(points[i][0] / R_cos_lat0))) for i in hull.vertices ]
+
+            # send SHAPE message
+            shape = PprzMessage("ground", "SHAPE")
+            shape['id'] = markerset[name]['id']
+            shape['linecolor'] = '"{}"'.format(args.color)
+            shape['fillcolor'] = '"{}"'.format(args.color)
+            shape['opacity'] = 1 # light
+            shape['shape'] = 1 # polygon
+            shape['status'] = 0 # create or update
+            shape['latarr'] = latitudes
+            shape['lonarr'] = longitudes
+            shape['radius'] = 0. # not relevant
+            if args.show_name:
+                shape['text'] = name
+            else:
+                shape['text'] = '" "'
+            ivy.send(shape)
+            markerset[name]['time_refresh'] = now
+            sleep(0.01)
+
+def check_timeout():
+    '''
+    check timeout and if needed, remove object from scene and list
+    '''
+    now = time()
+    for name in list(markerset.keys()):
+        if now - markerset[name]['time'] > args.timeout:
+            shape = PprzMessage("ground", "SHAPE")
+            shape['id'] = markerset[name]['id']
+            shape['status'] = 1 # delete
+            # fill the rest even if not needed
+            shape['linecolor'] = '" "'
+            shape['fillcolor'] = '" "'
+            shape['opacity'] = 0
+            shape['shape'] = 1
+            shape['latarr'] = [0]
+            shape['lonarr'] = [0]
+            shape['radius'] = 0.
+            shape['text'] = '" "'
+            ivy.send(shape)
+            del markerset[name]
+
+
+# start natnet interface
+natnet_version = (3,0,0,0)
+if args.old_natnet:
+    natnet_version = (2,9,0,0)
+natnet = NatNetClient(
+        server=args.server,
+        markerSetListener=receiveMarkerSet,
+        dataPort=args.data_port,
+        commandPort=args.command_port,
+        verbose=args.very_verbose,
+        version=natnet_version)
+
+
+print("Starting Object Display interface at %s" % (args.server))
+try:
+    # Start up the streaming client.
+    # This will run perpetually, and operate on a separate thread.
+    natnet.run()
+    while True:
+        sleep(1)
+        check_timeout()
+except (KeyboardInterrupt, SystemExit):
+    print("Shutting down ivy and natnet interfaces...")
+    natnet.stop()
+    ivy.shutdown()
+except OSError:
+    print("Natnet connection error")
+    natnet.stop()
+    ivy.stop()
+    exit(-1)
+