Overlaying a .obj file on an aruco marker

I have some boilerplate code to detect aruco markers from a frame:

import cv2

# Load the camera
cap = cv2.VideoCapture(0)

# Set the dictionary to use
dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_6X6_250)

while(True):
    # Capture frame-by-frame
    ret, frame = cap.read()
    if not ret: continue
    detector = cv2.aruco.ArucoDetector(dictionary)

    # Detect markers
    corners, ids, _ = detector.detectMarkers(frame)

    # Draw markers
    frame = cv2.aruco.drawDetectedMarkers(frame, corners, ids)

    # Display the resulting frame
    cv2.imshow('frame', frame)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

# When everything done, release the capture
cap.release()
cv2.destroyAllWindows()

I would like to be able to import an .obj file and overlay it over the aruco marker. I don't want to open any extra windows, and would prefer for it to be able to run real time.

Is there a way to do this..?

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