rvec, tvec, markerPoints = aruco.estimatePoseSingleMarkers(corners[i], 0.02, matrix_coefficients,
                                                                           distortion_coefficients)
(rvec - tvec).any()  # get rid of that nasty numpy value array error
aruco.drawDetectedMarkers(frame, corners)  # Draw A square around the markers
aruco.drawAxis(frame, matrix_coefficients, distortion_coefficients, rvec, tvec, 0.01)  # Draw axis