I followed the steps here: http://www.kameda-lab.org/_local/imagelab.tsukuba.ac.jp/ubuntu1004+opencv21/ARToolKitk/index-e.html
In the process, you will need the following packages. Make sure they are installed so that ARToolkit could successfully make.
libxmu-dev, freeglut3-dev, xorg-dev, libjpeg-dev
A screenshot of test code of ARToolkit

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