Added rust API functions, Improved diagnostic data on error

[ntobler]

• Project now generates a rlib for rust projects. However, project is not deployed to crates.io yet
• Added star extraction functions in rust (not used by python yet)
• Improved error messages of StarMatcher.find. Now returns diagnostic data next to the reason of the failure.
• Added a magnitude filter for the triangle lookup. This way the triangle lookup can be performed on a smaller set of bright stars (improves lookup performance), while the attitude matching is performed with all stars.
• Replaced some Vec<_> parameters with slices.
• Improved python API by using numpy parameters and return values instead of rust-native datatypes. This enables zero-copy passing of data if it is stored in a contiguous numpy array.

[guidoca]

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