diff --git a/trik/ov7670/mxn_sensor/dsp_server/bin/dsp_server.xe674 b/trik/ov7670/mxn_sensor/dsp_server/bin/dsp_server.xe674
index 758c20b..fe86c47 100644
Binary files a/trik/ov7670/mxn_sensor/dsp_server/bin/dsp_server.xe674 and b/trik/ov7670/mxn_sensor/dsp_server/bin/dsp_server.xe674 differ
diff --git a/trik/ov7670/mxn_sensor/include/internal/cv_ball_detector_seqpass.hpp b/trik/ov7670/mxn_sensor/include/internal/cv_ball_detector_seqpass.hpp
index 6bdb79e..a9c2569 100644
--- a/trik/ov7670/mxn_sensor/include/internal/cv_ball_detector_seqpass.hpp
+++ b/trik/ov7670/mxn_sensor/include/internal/cv_ball_detector_seqpass.hpp
@@ -365,10 +365,12 @@ void clasterizeImage()
 
     }
 
-  uint32_t __attribute__((always_inline)) GetImgColor(int _rowStart,
-                                                      int _heightStep,
-                                                      int _colStart,
-                                                      int _widthStep)
+  uint32_t __attribute__((always_inline)) GetImgColor(int  _rowStart,
+                                                      int  _heightStep,
+                                                      int  _colStart,
+                                                      int  _widthStep,
+                                                      bool _isHSV,
+                                                      uint32_t* _colorHSV)
   {
     uint32_t rgbResult = 0;
     const uint64_t* restrict img = s_rgb888hsv;
@@ -404,11 +406,20 @@ void clasterizeImage()
     int sat = cs_max * m_satScale;
     int val = cv_max * m_valScale;
 
-    return HSVtoRGB(hue, sat, val);
+    if (_isHSV)
+    {
+        //_colorHSV = ((uint32_t)hue << 16) + ((uint32_t)sat << 8) + ((uint32_t)val);
+    }
+    //if (!isHSV)
+        return HSVtoRGB(hue, sat, val);
+    //else
   }
   
 
-  uint32_t __attribute__((always_inline)) GetImgColor2(uint32_t _row, uint32_t _col, uint32_t _height, uint32_t _width)
+  uint32_t __attribute__((always_inline)) GetImgColor2(uint32_t _row,
+                                                       uint32_t _col,
+                                                       uint32_t _height,
+                                                       uint32_t _width)
   {
     const uint32_t width = m_inImageDesc.m_width;
     const uint32_t gap   = width - _width;
@@ -442,13 +453,18 @@ void clasterizeImage()
       subImg += gap;  
     }
 
-    // return h, s and v as h_max, s_max and _max with values
+    // return h, s and v as h_max, s_max and v_max with values
     // scaled to be between 0 and 255.
     int hue = ch_max * m_hueScale;
     int sat = cs_max * m_satScale;
     int val = cv_max * m_valScale;
 
-    return HSVtoRGB(hue, sat, val);
+    return ((uint32_t)hue << 16) + ((uint32_t)sat << 8) + ((uint32_t)val);
+
+
+    //if (!isHSV)
+    //    return HSVtoRGB(hue, sat, val);
+    //else
   }
 
 
@@ -477,6 +493,51 @@ void clasterizeImage()
     }
   }
 
+  uint32_t HSVtoRGB(uint32_t hsv)
+  {
+      const int pos = 100;
+
+      int H = ((hsv >> 16) & 0xFF);
+      int S = ((hsv >> 8) & 0xFF);
+      int V = (hsv & 0xFF);
+
+      uint32_t rgbResult;
+
+      float r = 0;
+      float g = 0;
+      float b = 0;
+
+      float h = H / 255.0f;
+      float s = S / 255.0f;
+      float v = V / 255.0f;
+
+      //getTrueSV(v ,s, v ,s);
+      v = v < 0.2 ? 0 : v;
+      s = s < 0.2 ? 0 : 1;
+
+      int i = h*6;
+      float f = h*6-i;
+      float p = v * (1 - s);
+      float q = v * (1 - f * s);
+      double t = v * (1 - (1 - f) * s);
+
+      switch(i % 6) {
+        case 0: r = v; g = t; b = p; break;
+        case 1: r = q; g = v; b = p; break;
+        case 2: r = p; g = v; b = t; break;
+        case 3: r = p; g = q; b = v; break;
+        case 4: r = t; g = p; b = v; break;
+        case 5: r = v; g = p; b = q; break;
+      }
+
+      int ri = r*255;
+      int gi = g*255;
+      int bi = b*255;
+      rgbResult = ((int32_t)ri << 16) + ((int32_t)gi << 8) + ((int32_t)bi);
+
+      return rgbResult;
+  }
+
   uint32_t HSVtoRGB(int H, int S, int V)
   {
       uint32_t rgbResult;
@@ -609,10 +670,11 @@ void clasterizeImage()
       for(int i = 0; i < m_heightM; ++i) {
         int colStart = 0;
         for(int j = 0; j < m_widthN; ++j) {
-          resColor = GetImgColor2(rowStart, colStart, m_heightStep, m_widthStep);
-          fillImage(rowStart, colStart, _outImage, resColor);
-          _outArgs.outColor[counter++] = resColor;
-          colStart += m_widthStep;
+            resColor =  GetImgColor2(rowStart, colStart, m_heightStep, m_widthStep);
+            _outArgs.outColor[counter++] = resColor;
+            resColor = HSVtoRGB(resColor);
+            fillImage(rowStart, colStart, _outImage, resColor);
+            colStart += m_widthStep;
         }
         rowStart += m_heightStep;
       }
diff --git a/trik/ov7670/mxn_sensor/trik_vidtranscode_cv.h b/trik/ov7670/mxn_sensor/trik_vidtranscode_cv.h
index f4d99dc..4a77b0d 100644
--- a/trik/ov7670/mxn_sensor/trik_vidtranscode_cv.h
+++ b/trik/ov7670/mxn_sensor/trik_vidtranscode_cv.h
@@ -49,6 +49,7 @@ typedef struct TRIK_VIDTRANSCODE_CV_DynamicParams {
 typedef struct TRIK_VIDTRANSCODE_CV_InArgsAlg {
     XDAS_Int32    widthM;
     XDAS_Int32    heightN;
+    XDAS_Bool     isHSV;
 } TRIK_VIDTRANSCODE_CV_InArgsAlg;
 
 typedef struct TRIK_VIDTRANSCODE_CV_InArgs {