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Take a look at the OpenCV contrib modules, especially the ARUCO module. It has a marker system and functions built in to detect, track, print, and otherwise use them.

ARUCO Tutorials

ARUCO Documentation

Take a look at the OpenCV contrib modules, especially the ARUCO module. It has a marker system and functions built in to detect, track, print, and otherwise use them.

ARUCO Tutorials

ARUCO Documentation

EDIT: Here are the results from using the tutorial on your image. You can see it found all the markers, though one isn't in the DICT_ARUCO_ORIGINAL dictionary. If you only used markers from that, it would find them all.

image description