I would like to introduce you my Find-GCP project. Using special ArUco code GCP markers we can find the marker centres on the images and the gcp_list.txt file can be generated as a batch process.
The project uses OpenCV and OpenCV contrib libraries and is written in Python.
The source code is available on GitHub GitHub - zsiki/Find-GCP: Find ArUco markers in digital photos
A paper has just been published about our work in Baltic Journal of Modern Computing Vol. 9 (2021) No 1: https://www.bjmc.lu.lv/fileadmin/user_upload/lu_portal/projekti/bjmc/Contents/9_1_06_Siki.pdf
Feed backs, bug reports, ideas are welcome on GitHub issue tracker.