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I would recommend to use ar_track_alvar instead. It is able to track marker bundles with findMarkerBundles node. A bundle is a set of markers belonging to the same rigid body, like the cube on your photo. The library will always return a pose of the first marker in the bundle, no matter what markers from the bundle are actually visible to the camera.

(Kinetic documentation tab is broken on ROS Wiki, so choose Jade or Indigo tab)

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