pip install plotbbox

import cv2
from plotbbox import plotBBox

img = cv2.imread("your_img.png")

label_table = {0: "person", 1: "car"}
color_table = {0: [0, 255, 0], 1: [0, 0, 255]} # order: b, g, r

bboxes = your_detection_algorithm(img) # Shape: (N, 5), [:, 0]: class index, [:, 1:]: xmin, ymin, xmax, ymax

for bbox in bboxes:
  
  class_idx = bbox[0]
  xmin, ymin, xmax, ymax = bbox[1:]

  plotBBox(img, 
           xmin, ymin, xmax, ymax, color=color_table[class_idx], thickness=1, 
           label=label_table[class_idx]) # plot bounding box on img

cv2.imwrite("bboxes_plotted_your_img.png", img)