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It's absolutely normal. Just check the code:
frame= new Mat(frame.size(), CvType.CV_8UC1); //8 bit/pixel, one channel (grayscale)
...
Imgproc.cvtColor(frame, grayFrame, Imgproc.COLOR_BGR2GRAY); //trying to convert a color (BGR) image to grayscale
The error says that for a color->grayscale (COLOR_BGR2GRAY) conversion it needs a color (3 or 4 channel) image as input.