diff --git a/tracking/Makefile b/tracking/Makefile
new file mode 100644
index 0000000..040e44d
--- /dev/null
+++ b/tracking/Makefile
@@ -0,0 +1,10 @@
+all: markers.pdf
+
+clean:
+	rm -f markers.pdf markers.png
+
+markers.pdf: markers.png
+	convert $< -density 254 $@
+
+markers.png: make_markers.py
+	./make_markers.py
diff --git a/tracking/make_markers.py b/tracking/make_markers.py
index f2cb274..a4bae3e 100755
--- a/tracking/make_markers.py
+++ b/tracking/make_markers.py
@@ -27,13 +27,13 @@ def main():
     stamp(page, cv2.aruco.drawCharucoDiamond(d, (4, 5, 6, 7), 160, 96), 220, 1220)
     cv2.putText(page, 'back', (220, 1170), 0, 2, 0, 2)
 
-    stamp(page, cv2.aruco.drawMarker(d, 8, 200), 1220, 220)
+    stamp(page, cv2.aruco.generateImageMarker(d, 8, 200), 1220, 220)
     cv2.putText(page, 'top', (1220, 170), 0, 2, 0, 2)
 
-    stamp(page, cv2.aruco.drawMarker(d, 9, 200), 1220, 620)
+    stamp(page, cv2.aruco.generateImageMarker(d, 9, 200), 1220, 620)
     cv2.putText(page, 'left', (1220, 570), 0, 2, 0, 2)
 
-    stamp(page, cv2.aruco.drawMarker(d, 10, 200), 1220, 1020)
+    stamp(page, cv2.aruco.generateImageMarker(d, 10, 200), 1220, 1020)
     cv2.putText(page, 'right', (1220, 970), 0, 2, 0, 2)
 
     cv2.imwrite('markers.png', page)
diff --git a/tracking/markers.pdf b/tracking/markers.pdf
index 6e18c6e..ea9330b 100644
Binary files a/tracking/markers.pdf and b/tracking/markers.pdf differ