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When I implemented it without noticing the line below, I got an error, so I raised an issue. I downloaded the camera_para.dat locally and referenced it, and the marker AR worked.
https://ar-js-org.github.io/AR.js/three.js/ is specified as the baseURL, but it seems that it is currently inaccessible.
AR.js-threejs/src/ArToolkitContext.ts
Line 116 in df206b1
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