Yes, there is the method to perform your task. As says in documentation
For each keypoint the circle around keypoint with keypoint size and orientation will be drawn
If you are using Java, you can simply specify the type of keypoints:
Features2d.drawKeypoints(image1, keypoints1, imageOut2,new Scalar(2,254,255),Features2d.DRAW_RICH_KEYPOINTS);
In C++:
drawKeypoints( img_1, keypoints_1, img_keypoints_1, Scalar::all(-1), DrawMatchesFlags::DRAW_RICH_KEYPOINTS );