Input your code

// inputImage are declared and deleted elsewhere
inputImage = new cv.Mat(height, width, cv.CV_8UC4);
markerImage = new cv.Mat();
//dictionary = new cv.Dictionary(0);
//dictionary.markerSize = 3;
//dictionary.maxCorrectionBits = 1;
//dictionary.bytesList.delete();
//// dictionary.bytesList = cv.matFromArray(1, 2, cv.CV_8UC4, [197, 71,  81, 248, 226, 163, 31, 138]);
//dictionary.bytesList = cv.matFromArray(1, 2, cv.CV_8UC4, [177, 0, 135, 0, 70, 1, 112, 1]);
let dictionary = new cv.Dictionary(cv.DICT_6X6_250);
let parameter = new cv.DetectorParameters();

// parameter.adaptiveThreshWinSizeMin = 3,
parameter.adaptiveThreshWinSizeMin = 23;
// parameter.adaptiveThreshWinSizeMax = 23,
parameter.adaptiveThreshWinSizeMax = 23;
parameter.adaptiveThreshWinSizeStep = 10,
parameter.adaptiveThreshConstant = 7;
// parameter.minMarkerPerimeterRate = 0.03;
parameter.minMarkerPerimeterRate = 0.1;
parameter.maxMarkerPerimeterRate = 4;
parameter.polygonalApproxAccuracyRate = 0.03;
parameter.minCornerDistanceRate = 0.05;
parameter.minDistanceToBorder = 3;
parameter.minMarkerDistanceRate = 0.05;
parameter.cornerRefinementMethod = cv.CORNER_REFINE_NONE;
parameter.cornerRefinementWinSize = 5;
parameter.cornerRefinementMaxIterations = 30;
parameter.cornerRefinementMinAccuracy = 0.1;
parameter.markerBorderBits = 1;
// parameter.perspectiveRemovePixelPerCell = 4;
parameter.perspectiveRemovePixelPerCell = 2;
parameter.perspectiveRemoveIgnoredMarginPerCell = 0.13;
parameter.maxErroneousBitsInBorderRate = 0.35;
parameter.minOtsuStdDev = 5.0;
parameter.errorCorrectionRate = 0.6;

markerIds = new cv.Mat();
markerCorners  = new cv.MatVector();
rvecs = new cv.Mat();
tvecs = new cv.Mat();
RgbImage = new cv.Mat();
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]);
// "video" is the id of the video tag
let cap = new cv.VideoCapture("video");
loopIndex = setInterval(
    function(){
        cap.read(inputImage);
        if (checkbox.checked) {

cv.cvtColor(inputImage, RgbImage, cv.COLOR_RGBA2RGB, 0);
            cv.detectMarkers(RgbImage, dictionary, markerCorners, markerIds, parameter);

if (markerIds.rows > 0) {
                cv.drawDetectedMarkers(RgbImage, 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(RgbImage, cameraMatrix, distCoeffs, rvec, tvec, 0.1);
                    rvec.delete();
                    tvec.delete();
                }
            }
            cv.imshow("canvasOutput", RgbImage);
        }
        else
            cv.imshow("canvasOutput", inputImage);
    }, 33);