From 12e7ec5bdac206a3072f24577e897c79d6b0189f Mon Sep 17 00:00:00 2001
From: Stéphane Lenclud <github@lenclud.com>
Date: Sat, 13 Apr 2019 00:19:18 +0200
Subject: Easy Tracker: Support for single channel camera frames.

---
 tracker-easy/frame.cpp                   | 30 +++++++++++++++++++++++-------
 tracker-easy/frame.hpp                   |  1 +
 tracker-easy/point_extractor.cpp         | 10 +++++++++-
 tracker-kinect-face/camera_kinect_ir.cpp |  6 ++----
 tracker-kinect-face/camera_kinect_ir.h   |  1 -
 5 files changed, 35 insertions(+), 13 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);
diff --git a/tracker-kinect-face/camera_kinect_ir.cpp b/tracker-kinect-face/camera_kinect_ir.cpp
index 8499003b..b1856f47 100644
--- a/tracker-kinect-face/camera_kinect_ir.cpp
+++ b/tracker-kinect-face/camera_kinect_ir.cpp
@@ -99,7 +99,7 @@ std::tuple<const video::impl::frame&, bool> CameraKinectIr::get_frame()
     iFrame.width = 512;
     iFrame.height = 424;
     iFrame.stride = cv::Mat::AUTO_STEP;
-    iFrame.channels = 3;
+    iFrame.channels = iMatFrame.channels();
     return { iFrame, new_frame };
 }
 
@@ -280,9 +280,7 @@ bool CameraKinectIr::get_frame_(cv::Mat& frame)
             // For scalling to have more precission in the range we are interrested in
             min = max - 255;            
             // See: https://stackoverflow.com/questions/14539498/change-type-of-mat-object-from-cv-32f-to-cv-8u/14539652
-            raw.convertTo(iRaw8, CV_8U, 255.0 / (max - min), -255.0*min / (max - min));
-            // Second convert to RGB
-            cv::cvtColor(iRaw8, frame, cv::COLOR_GRAY2BGR);
+            raw.convertTo(frame, CV_8U, 255.0 / (max - min), -255.0*min / (max - min));
             //
             success = true;
         }
diff --git a/tracker-kinect-face/camera_kinect_ir.h b/tracker-kinect-face/camera_kinect_ir.h
index a2ddaf76..7cd24651 100644
--- a/tracker-kinect-face/camera_kinect_ir.h
+++ b/tracker-kinect-face/camera_kinect_ir.h
@@ -70,7 +70,6 @@ private:
 
     video::frame iFrame;
     cv::Mat iMatFrame;
-    cv::Mat iRaw8;
 
     float fov = 0;
     int width = 0, height = 0;
-- 
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