apriltag 0.4.0

High level Rust bindings to AprilTag library
Documentation 
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//! Pose types storing estimated rotation and translation parameters.

use crate::MatdRef;
use apriltag_sys as sys;
use std::fmt::{self, Debug, Formatter};

/// Estimated pose along with error.
pub struct PoseEstimation {
    pub pose: Pose,
    pub error: f64,
}

/// Estimated pose rotation and translation parameters.
#[repr(transparent)]
pub struct Pose(pub(crate) sys::apriltag_pose_t);

impl Pose {
    /// Gets the rotation matrix.
    pub fn rotation(&self) -> MatdRef<'_> {
        unsafe { MatdRef::from_ptr(self.0.R) }
    }

    /// Gets the translation matrix.
    pub fn translation(&self) -> MatdRef<'_> {
        unsafe { MatdRef::from_ptr(self.0.t) }
    }
}

impl Debug for Pose {
    fn fmt(&self, formatter: &mut Formatter<'_>) -> fmt::Result {
        formatter
            .debug_struct("Pose")
            .field("rotation", &self.rotation())
            .field("translation", &self.translation())
            .finish()
    }
}

impl Drop for Pose {
    fn drop(&mut self) {
        unsafe {
            sys::matd_destroy(self.0.R);
            sys::matd_destroy(self.0.t);
        }
    }
}

/// Stores tag size and camera parameters.
#[derive(Debug, Clone)]
pub struct TagParams {
    pub tagsize: f64,
    pub fx: f64,
    pub fy: f64,
    pub cx: f64,
    pub cy: f64,
}