text: import numpy as np
  import cv2 as cv
  
  # aruco
  adict = cv.aruco.Dictionary_get(cv.aruco.DICT_4X4_50)
  cv.imshow("marker", cv.aruco.drawMarker(adict, 0, 400))
  
  # random calibration data. your mileage may vary.
  imsize = (800, 600)
  K = cv.getDefaultNewCameraMatrix(np.diag([800, 800, 1]), imsize, True)
  
  # AR scene
  cv.ovis.addResourceLocation("packs/Sinbad.zip") # shipped with Ogre
  
  win = cv.ovis.createWindow("arucoAR", imsize, flags=0)
  win.setCameraIntrinsics(K, imsize)
  win.createEntity("figure", "Sinbad.mesh", (0, 0, 5), (1.57, 0, 0))
  win.createLightEntity("sun", (0, 0, 100))
  
  # video capture
  cap = cv.VideoCapture(0)
  cap.set(cv.CAP_PROP_FRAME_WIDTH, imsize[0])
  cap.set(cv.CAP_PROP_FRAME_HEIGHT, imsize[1])
  
  while cv.ovis.waitKey(1) != 27:
      img = cap.read()[1]
      win.setBackground(img)
      corners, ids = cv.aruco.detectMarkers(img, adict)[:2]
  
      cv.waitKey(1)
  
      if ids is None:
          continue
  
      rvecs, tvecs = cv.aruco.estimatePoseSingleMarkers(corners, 5, K, None)[:2]
      win.setCameraPose(tvecs[0].ravel(), rvecs[0].ravel(), invert=True)
  