Removed DLLs and added ArUco detection

lib/src/isolates/opencv.dart

@@ -1,6 +1,7 @@
 import "package:opencv_ffi/opencv_ffi.dart";
 import "package:burt_network/burt_network.dart";
 import "package:burt_network/logging.dart";
+import "package:video/src/utils/aruco.dart";
 
 import "package:video/video.dart";
 
@@ -35,7 +36,10 @@ class OpenCVCameraIsolate extends CameraIsolate {
   /// - If the quality is already low, alerts the dashboard
   @override
   void sendFrames() {
-    final frame = camera.getJpg(quality: details.quality);
+    final matrix = camera.getFrame();
+    detectAndAnnotateFrames(matrix);
+    final frame = encodeJpg(matrix, quality: details.quality);
+    matrix.dispose();
     if (frame == null) {  // Error getting the frame
       sendLog(LogLevel.warning, "Camera $name didn't respond");
       updateDetails(CameraDetails(status: CameraStatus.CAMERA_NOT_RESPONDING));

lib/src/isolates/realsense.dart

@@ -4,6 +4,7 @@ import "package:burt_network/generated.dart";
 import "package:burt_network/logging.dart";
 import "package:protobuf/protobuf.dart";
 import "package:opencv_ffi/opencv_ffi.dart";
+import "package:video/src/utils/aruco.dart";
 
 import "package:video/video.dart";
 
@@ -76,9 +77,12 @@ class RealSenseIsolate extends CameraIsolate {
       sendFrame(colorizedJpg);
     }
 
-    // Compress RGB frame
+    // Get RGB frame
     final Pointer<Uint8> rawRGB = frames.ref.rgb_data;
     final Pointer<Mat> rgbMatrix = getMatrix(camera.height, camera.width, rawRGB);
+    detectAndAnnotateFrames(rgbMatrix);  // detect ArUco tags
+
+    // Compress the RGB frame into a JPG
     final OpenCVImage? rgbJpg = encodeJpg(rgbMatrix, quality: details.quality);
     if (rgbJpg == null) {
       sendLog(LogLevel.debug, "Could not encode RGB frame"); 

lib/src/utils/aruco.dart

@@ -0,0 +1,10 @@
+import "dart:ffi";
+
+import "package:opencv_ffi/opencv_ffi.dart";
+
+/// Detect ArUco tags in the cv::aruco::DICT_4X4_50 dictionary and annotate them
+void detectAndAnnotateFrames(Pointer<Mat> image) {
+  final Pointer<ArucoMarkers> markers = detectArucoMarkers(image, dictionary: 0);
+  drawMarkers(image, markers);
+  markers.dispose();
+}