Allow non colour channels to be displayed

components/codecs/src/nvpipe_encoder.cpp

@@ -47,6 +47,10 @@ bool NvPipeEncoder::encode(const cv::Mat &in, definition_t odefinition, bitrate_
 
 	//LOG(INFO) << "Definition: " << ftl::codecs::getWidth(definition) << "x" << ftl::codecs::getHeight(definition);
 
+    if (in.empty()) {
+        LOG(ERROR) << "Missing data for Nvidia encoder";
+        return false;
+    }
     if (!_createEncoder(in, definition, bitrate)) return false;
 
     //LOG(INFO) << "NvPipe Encode: " << int(definition) << " " << in.cols;

components/renderers/cpp/src/splat_render.cpp

@@ -69,7 +69,7 @@ void Splatter::renderChannel(
 	// Accumulate attribute contributions for each pixel
 	for (auto &f : scene_->frames) {
 		// Convert colour from BGR to BGRA if needed
-		if (f.get<GpuMat>(Channel::Colour).type() == CV_8UC3) {
+		if (f.get<GpuMat>(channel).type() == CV_8UC3) {
 			// Convert to 4 channel colour
 			auto &col = f.get<GpuMat>(Channel::Colour);
 			GpuMat tmp(col.size(), CV_8UC4);
@@ -211,6 +211,13 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
 		out.create<GpuMat>(Channel::Right, Format<uchar4>(camera.width, camera.height));
 		out.get<GpuMat>(Channel::Right).setTo(cv::Scalar(76,76,76), cvstream);
 		renderChannel(params, out, Channel::Right, stream);
+	} else {
+		if (ftl::rgbd::isFloatChannel(chan)) {
+			out.create<GpuMat>(chan, Format<float>(camera.width, camera.height));
+		} else {
+			out.create<GpuMat>(chan, Format<uchar4>(camera.width, camera.height));
+		}
+		renderChannel(params, out, chan, stream);
 	}
 
 	return true;