Input your code

let inputImage = cv.imread("arucoCanvasInput");
cv.cvtColor(inputImage, inputImage, cv.COLOR_RGBA2RGB, 0);
let markerImage = new cv.Mat();
let dictionary = new cv.Dictionary(cv.DICT_6X6_250);
let markerIds = new cv.Mat();
let markerCorners  = new cv.MatVector();
let rvecs = new cv.Mat();
let tvecs = new cv.Mat();
let cameraMatrix = cv.matFromArray(3, 3, cv.CV_64F, [9.6635571716090658e+02, 0., 2.0679307818305685e+02, 0.,
                                   9.6635571716090658e+02, 2.9370020600555273e+02, 0., 0., 1.]);
let distCoeffs = cv.matFromArray(5, 1, cv.CV_64F, [-1.5007354215536557e-03, 9.8722389825801837e-01,
                                 1.7188452542408809e-02, -2.6805958820424611e-02, -2.3313928379240205e+00]);
cv.detectMarkers(inputImage, dictionary, markerCorners, markerIds);
if (markerIds.rows > 0) {
    cv.drawDetectedMarkers(inputImage, markerCorners, markerIds);
    cv.estimatePoseSingleMarkers(markerCorners, 0.1, cameraMatrix, distCoeffs, rvecs, tvecs);
    for(let i=0; i < markerIds.rows; ++i) {
        let rvec = cv.matFromArray(3, 1, cv.CV_64F, [rvecs.doublePtr(0, i)[0], rvecs.doublePtr(0, i)[1], rvecs.doublePtr(0, i)[2]]);
        let tvec = cv.matFromArray(3, 1, cv.CV_64F, [tvecs.doublePtr(0, i)[0], tvecs.doublePtr(0, i)[1], tvecs.doublePtr(0, i)[2]]);
        cv.drawAxis(inputImage, cameraMatrix, distCoeffs, rvec, tvec, 0.1);
        rvec.delete();
        tvec.delete();
    }
}

cv.imshow("arucoCanvasOutput", inputImage);
inputImage.delete(); markerImage.delete(); dictionary.delete(); markerIds.delete(); markerCorners.delete(); rvecs.delete(); tvecs.delete(); cameraMatrix.delete(); distCoeffs.delete();