fix: extract Mats from boxed refs

jerry73204 · Aug 9, 2024 · 62515e9 · 62515e9
1 parent 7bf12b0
commit 62515e9
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/cv-convert/src/with_opencv.rs b/cv-convert/src/with_opencv.rs
@@ -186,8 +186,8 @@ where
 
     fn try_from_cv(from: &core_cv::Point_<T>) -> Result<Self> {
         let core_cv::Point_ { x, y, .. } = *from;
-        let mat = core_cv::Mat::from_slice(&[x, y])?;
-        Ok(mat)
+        let boxed_mat = core_cv::Mat::from_slice(&[x, y])?;
+        Ok(boxed_mat.into_owned())
     }
 }
 
@@ -210,8 +210,8 @@ where
 
     fn try_from_cv(from: &core_cv::Point3_<T>) -> Result<Self> {
         let core_cv::Point3_ { x, y, z, .. } = *from;
-        let mat = core_cv::Mat::from_slice(&[x, y, z])?;
-        Ok(mat)
+        let boxed_mat = core_cv::Mat::from_slice(&[x, y, z])?;
+        Ok(boxed_mat.into_owned())
     }
 }
 

diff --git a/cv-convert/src/with_opencv_nalgebra.rs b/cv-convert/src/with_opencv_nalgebra.rs
@@ -23,7 +23,7 @@ impl TryFromCv<&OpenCvPose<&core_cv::Point3d>> for geo::Isometry3<f64> {
     type Error = Error;
 
     fn try_from_cv(pose: &OpenCvPose<&core_cv::Point3d>) -> Result<Self> {
-        let OpenCvPose { rvec, tvec } = *pose;
+        let OpenCvPose { rvec, tvec.into_owned() } = *pose; // tvec is boxed_mat so .into_owned() to get mat inside 
         let rotation = {
             let rvec_mat = {
                 let core_cv::Point3_ { x, y, z, .. } = *rvec;
@@ -273,9 +273,9 @@ where
 
     fn try_from_cv(from: &na::Matrix<N, R, C, S>) -> Result<Self> {
         let nrows = from.nrows();
-        let mat =
+        let boxed_mat =
             core_cv::Mat::from_slice(from.transpose().as_slice())?.reshape(1, nrows as i32)?;
-        Ok(mat)
+        Ok(boxed_mat.into_owned())
     }
 }