3 files changed, 33 insertions, 8 deletions
diff --git a/tracker-easy/frame.cpp b/tracker-easy/frame.cpp
index 9243c6a1..2464f85f 100644
--- a/tracker-easy/frame.cpp
+++ b/tracker-easy/frame.cpp
@@ -5,21 +5,37 @@
 #include <opencv2/imgproc.hpp>
 
 
-Preview& Preview::operator=(const cv::Mat& frame)
+Preview& Preview::operator=(const cv::Mat& aFrame)
 {
 
-    if (frame.channels() != 3)
+    // Make sure our frame is RGB
+    // Make an extra copy if needed
+    int channelCount = aFrame.channels();
+    if (channelCount == 1)
     {
-        eval_once(qDebug() << "tracker/pt: camera frame depth: 3 !=" << frame.channels());
+        // Convert to RGB
+        cv::cvtColor(aFrame, iFrameRgb, cv::COLOR_GRAY2BGR);
+    }
+    else if (channelCount == 3)
+    {
+        iFrameRgb = aFrame;
+    }
+    else
+    {
+        eval_once(qDebug() << "tracker/easy: camera frame depth not supported" << aFrame.channels());
         return *this;
     }
 
-    const bool need_resize = frame.cols != frame_out.cols || frame.rows != frame_out.rows;
+    const bool need_resize = iFrameRgb.cols != frame_out.cols || iFrameRgb.rows != frame_out.rows;
     if (need_resize)
-        cv::resize(frame, frame_copy, cv::Size(frame_out.cols, frame_out.rows), 0, 0, cv::INTER_NEAREST);
+    {
+        cv::resize(iFrameRgb, frame_copy, cv::Size(frame_out.cols, frame_out.rows), 0, 0, cv::INTER_NEAREST);
+    }        
     else
-        frame.copyTo(frame_copy);
-
+    {
+        iFrameRgb.copyTo(frame_copy);
+    }
+        
     return *this;
 }
 
diff --git a/tracker-easy/frame.hpp b/tracker-easy/frame.hpp
index 01e99977..2a221de3 100644
--- a/tracker-easy/frame.hpp
+++ b/tracker-easy/frame.hpp
@@ -22,6 +22,7 @@ private:
     static void ensure_size(cv::Mat& frame, int w, int h, int type);
 
     cv::Mat frame_copy, frame_out;
+    cv::Mat iFrameRgb;
 };
 
 
diff --git a/tracker-easy/point_extractor.cpp b/tracker-easy/point_extractor.cpp
index ecd72f70..06bb6c9a 100644
--- a/tracker-easy/point_extractor.cpp
+++ b/tracker-easy/point_extractor.cpp
@@ -242,7 +242,15 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
 {
 
     ensure_buffers(frame);
-    color_to_grayscale(frame, frame_gray_unmasked);
+    if (frame.channels() != 1)
+    {
+        color_to_grayscale(frame, frame_gray_unmasked);
+    }
+    else
+    {
+        frame_gray_unmasked = frame;
+    }
+    
 
 #if defined PREVIEW
     cv::imshow("capture", frame_gray);