Augmented reality without artoolkit but with stereo camera?!

Hello, My problem is not fully related with OF but there may be someone among you that can help me!

I have a stereo camera that can detect markers (its own markers after training) and gives me back the position (three distances in ‘mm’ and three angles) related to XYZ system of the camera (picture attached).

The second image is an old test but I have put it here to see the console output (also the marker is not a common one).

From the information that the marker gives me can I do the same projection as with the artoolkit?

How can I use this marker to project a GL box on top?
Im completely newbie with AR and graphics.

Any help or specific links will be very helpful!