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It's on my list for the mapping3d module I'm working on, but not done yet.
Basically, you have to take one as your primary, then when you have another in frame with it, reverse the R|t to it, and combine that with the R|t to the first marker to get the location of the second in relation to the first. Then any future calculations with only marker 2 include the R|t to the location of the second marker.
It's best to average the result over all the frames that contain both to try and get rid of bias and noise.
