This is a non marker version of ARNanoha
It uses linux ported version of HandyAR (http://ilab.cs.ucsb.edu/projects/taehee/HandyAR/)
There is the sample movie at http://www.youtube.com/watch?v=6GTQvJ_tfo4
make
cd bin
./AR -model Model(1|2)
Model1 for Mid-Childa Magical Circle
Model2 for Velka Magical Circle
It is distrubuted under MIT License.
The model of Mid-Childa Magical Circle: http://mclab.uunyan.com/lab/motn_maho/