Feature enhancement: PnP algorithm for pose Matrix calculation and other functions improves

WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp

@@ -54,6 +54,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
         WEBARKIT_LOGi("Init Tracker!\n");
 
         cv::Mat refGray;
+
         if (colorSpace == ColorSpace::RGBA) {
             cv::Mat colorFrame(refRows, refCols, CV_8UC4, refData);
             refGray.create(refRows, refCols, CV_8UC1);
@@ -66,10 +67,6 @@ class WebARKitTracker::WebARKitTrackerImpl {
             refGray = cv::Mat(refRows, refCols, CV_8UC1, refData);
         }
 
-        WEBARKIT_LOGi("Gray data ok!\n");
-
-        //cv::Mat refGray(refRows, refCols, CV_8UC1, refData);
-
         cv::Mat trackerFeatureMask = createTrackerFeatureMask(refGray);
 
         this->_featureDetector->detect(refGray, refKeyPts, trackerFeatureMask);
@@ -119,6 +116,10 @@ class WebARKitTracker::WebARKitTrackerImpl {
             cv::Mat colorFrame(frameRows, frameCols, CV_8UC4, frameData);
             grayFrame.create(frameRows, frameCols, CV_8UC1);
             cv::cvtColor(colorFrame, grayFrame, cv::COLOR_RGBA2GRAY);
+        } else if (colorSpace == ColorSpace::RGB) {
+            cv::Mat colorFrame(frameRows, frameCols, CV_8UC3, frameData);
+            grayFrame.create(frameRows, frameCols, CV_8UC1);
+            cv::cvtColor(colorFrame, grayFrame, cv::COLOR_RGB2GRAY);
         } else if (colorSpace == ColorSpace::GRAY) {
             grayFrame = cv::Mat(frameRows, frameCols, CV_8UC1, frameData);
         }