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Yes, you can do it with opencv's drawing functions. Use cvbridge to create cv::Mat from sensor_msg::image without copying.

If you use pyqt anyway, why not use the drawing functions of qt? You can convert the images to QImage (e.g. as it is done here from an opencv image) and use a QPainter, constructed with the image as parameter to use drawEllipse.

Yes, you can do it with opencv's drawing functions. Use cvbridge to create cv::Mat from sensor_msg::image without copying.

If you use pyqt anyway, why not use the drawing functions of qt? You can convert the images to QImage (e.g. as it is done herehere (c++) from an opencv image) and use a QPainter, constructed with the image as parameter to use drawEllipse.