How can I draw the x,y, and z axis of a aruco marker and know the distance and the rotation relative to the camera?

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Hello, I ran the marker_detection.exe and the aruco markers were successfully detected by passing arguments " marker_detection.exe --ci=1 -d=10". But what kind of arguments should I pass to draw the x,y, and z axis? How can I know the distance and the rotation of a marker relative to the camera? Thanks for any help.

Basic marker detection
Usage: test.exe [params]

    -c
            Camera intrinsic parameters. Needed for camera pose
    --ci (value:0)
            Camera id if input doesnt come from video (-v)
    -d
            dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16,DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20
    --dp
            File of marker detector parameters
    -l (value:0.1)
            Marker side lenght (in meters). Needed for correct scale in camera pose
    -r
            show rejected candidates too
    --refine
            Corner refinement: CORNER_REFINE_NONE=0, CORNER_REFINE_SUBPIX=1,CORNER_REFINE_CONTOUR=2, CORNER_REFINE_APRILTAG=3
    -v
            Input from video file, if ommited, input comes from camera