代码如下：

import numpy as np
import cv2 as cv
import glob

cap = cv.VideoCapture(0)
if not cap.isOpened():
    print("Cannot open camera")
    exit()
while True:
    # Capture frame-by-frame
    ret, frame = cap.read()
    # if frame is read correctly ret is True
    if not ret:
        print("Can't receive frame (stream end?). Exiting ...")
        break
    # Our operations on the frame come here
    gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
    arucoDict = cv.aruco.Dictionary_get(cv.aruco.DICT_5X5_100)
    arucoParams = cv.aruco.DetectorParameters_create()
    (corners, ids, rejected) = cv.aruco.detectMarkers(gray, arucoDict,
                                                    parameters=arucoParams)
    print(corners)
    img = frame
    if(len(corners)>0):
        imgpts = [np.int32(corners).reshape(-1, 2)]
        img = cv.drawContours(frame, imgpts, -1, (0, 255, 0), -3)    
    # Display the resulting frame
    cv.imshow('frame', img)
    if cv.waitKey(1) == ord('q'):
        break
# When everything done, release the capture
cap.release()
cv.destroyAllWindows()

效果如下：

所用的二维码如下：