From d6907613e89b906edb3f2b7c0049f8b13f3524ee Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Wed, 18 Aug 2021 13:50:04 +0200
Subject: tracker/pt: fix support for grayscale input video

---
 tracker-pt/module/frame.cpp           | 25 +++++++++++++++++++------
 tracker-pt/module/frame.hpp           |  2 +-
 tracker-pt/module/point_extractor.cpp |  7 +++++++
 3 files changed, 27 insertions(+), 7 deletions(-)

(limited to 'tracker-pt/module')

diff --git a/tracker-pt/module/frame.cpp b/tracker-pt/module/frame.cpp
index ab110871..9247212b 100644
--- a/tracker-pt/module/frame.cpp
+++ b/tracker-pt/module/frame.cpp
@@ -8,19 +8,32 @@ namespace pt_module {
 
 Preview& Preview::operator=(const pt_frame& frame_)
 {
-    const cv::Mat& frame = frame_.as_const<const Frame>()->mat;
+    const cv::Mat& frame2 = frame_.as_const<const Frame>()->mat;
+    const cv::Mat* frame;
 
-    if (frame.channels() != 3)
+    if (frame2.channels() == 1)
     {
-        eval_once(qDebug() << "tracker/pt: camera frame depth: 3 !=" << frame.channels());
+        frame_tmp.create(frame2.rows, frame2.cols, CV_8UC3);
+        const cv::Mat channels[] = { frame2, frame2, frame2 };
+        cv::merge(channels, std::size(channels), frame_tmp);
+        frame = &frame_tmp;
+    }
+    else
+        frame = &frame2;
+
+    if (frame->channels() != 3)
+    {
+        eval_once(qDebug() << "tracker/pt: camera frame depth: 3 !=" << frame->channels());
+        frame_copy.create(cv::Size{frame_out.cols, frame_out.rows}, CV_8UC3);
+        frame_copy.setTo({0});
         return *this;
     }
 
-    const bool need_resize = frame.cols != frame_out.cols || frame.rows != frame_out.rows;
+    const bool need_resize = frame2.cols != frame_out.cols || frame2.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(frame2, frame_copy, cv::Size(frame_out.cols, frame_out.rows), 0, 0, cv::INTER_NEAREST);
     else
-        frame.copyTo(frame_copy);
+        frame->copyTo(frame_copy);
 
     return *this;
 }
diff --git a/tracker-pt/module/frame.hpp b/tracker-pt/module/frame.hpp
index 89334599..ae0a0cbc 100644
--- a/tracker-pt/module/frame.hpp
+++ b/tracker-pt/module/frame.hpp
@@ -34,7 +34,7 @@ struct Preview final : pt_preview
 private:
     static void ensure_size(cv::Mat& frame, int w, int h, int type);
 
-    cv::Mat frame_copy, frame_out;
+    cv::Mat frame_copy, frame_out, frame_tmp;
 };
 
 } // ns pt_module
diff --git a/tracker-pt/module/point_extractor.cpp b/tracker-pt/module/point_extractor.cpp
index a92c87c9..5e57ef34 100644
--- a/tracker-pt/module/point_extractor.cpp
+++ b/tracker-pt/module/point_extractor.cpp
@@ -124,6 +124,13 @@ void PointExtractor::filter_single_channel(const cv::Mat& orig_frame, float r, f
 
 void PointExtractor::color_to_grayscale(const cv::Mat& frame, cv::Mat1b& output)
 {
+    if (frame.channels() == 1)
+    {
+        output.create(frame.rows, frame.cols);
+        frame.copyTo(output);
+        return;
+    }
+
     switch (s.blob_color)
     {
     case pt_color_green_only:
-- 
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