From ea397a3f552d2d0ca813d5c970e3f66bed4af1d9 Mon Sep 17 00:00:00 2001
From: Fabien Spindler <Fabien.Spindler@inria.fr>
Date: Wed, 3 Jul 2024 12:50:46 +0200
Subject: [PATCH] Fix vpImageConvert::YUYVToRGBa() and YUYVToRGB() color
 conversion

---
 modules/core/src/image/vpImageConvert_yuv.cpp | 42 ++++++++++---------
 .../src/framegrabber/v4l2/vpV4l2Grabber.cpp   |  3 +-
 2 files changed, 24 insertions(+), 21 deletions(-)

diff --git a/modules/core/src/image/vpImageConvert_yuv.cpp b/modules/core/src/image/vpImageConvert_yuv.cpp
index 5206a557dc..cea2ebd02a 100644
--- a/modules/core/src/image/vpImageConvert_yuv.cpp
+++ b/modules/core/src/image/vpImageConvert_yuv.cpp
@@ -44,12 +44,14 @@ namespace
 {
 void vpSAT(int &c)
 {
-  if (c < 0) {
-    c = 0;
-  }
-  else {
-    const unsigned int val_255 = 255;
-    c = val_255;
+  if (c & (~255)) {
+    if (c < 0) {
+      c = 0;
+    }
+    else {
+      const unsigned int val_255 = 255;
+      c = val_255;
+    }
   }
 }
 };
@@ -73,13 +75,13 @@ void vpImageConvert::YUYVToRGBa(unsigned char *yuyv, unsigned char *rgba, unsign
   unsigned char *d;
   int w, h;
   int r, g, b, cr, cg, cb, y1, y2;
-  const unsigned int val_2 = 2;
-  const unsigned int val_88 = 88;
-  const unsigned int val_128 = 128;
-  const unsigned int val_183 = 183;
-  const unsigned int val_256 = 256;
-  const unsigned int val_359 = 359;
-  const unsigned int val_454 = 454;
+  const int val_2 = 2;
+  const int val_88 = 88;
+  const int val_128 = 128;
+  const int val_183 = 183;
+  const int val_256 = 256;
+  const int val_359 = 359;
+  const int val_454 = 454;
 
   h = static_cast<int>(height);
   w = static_cast<int>(width);
@@ -142,13 +144,13 @@ void vpImageConvert::YUYVToRGB(unsigned char *yuyv, unsigned char *rgb, unsigned
   unsigned char *d;
   int h, w;
   int r, g, b, cr, cg, cb, y1, y2;
-  const unsigned int val_2 = 2;
-  const unsigned int val_88 = 88;
-  const unsigned int val_128 = 128;
-  const unsigned int val_183 = 183;
-  const unsigned int val_256 = 256;
-  const unsigned int val_359 = 359;
-  const unsigned int val_454 = 454;
+  const int val_2 = 2;
+  const int val_88 = 88;
+  const int val_128 = 128;
+  const int val_183 = 183;
+  const int val_256 = 256;
+  const int val_359 = 359;
+  const int val_454 = 454;
 
   h = static_cast<int>(height);
   w = static_cast<int>(width);
diff --git a/modules/sensor/src/framegrabber/v4l2/vpV4l2Grabber.cpp b/modules/sensor/src/framegrabber/v4l2/vpV4l2Grabber.cpp
index 7d013bc268..ed2657017f 100644
--- a/modules/sensor/src/framegrabber/v4l2/vpV4l2Grabber.cpp
+++ b/modules/sensor/src/framegrabber/v4l2/vpV4l2Grabber.cpp
@@ -724,8 +724,9 @@ void vpV4l2Grabber::acquire(vpImage<vpRGBa> &I, struct timeval &timestamp, const
       vpImageTools::crop(bitmap, width, height, roi, I);
     break;
   case V4L2_RGB24_FORMAT: // tested
-    if (roi == vpRect())
+    if (roi == vpRect()) {
       vpImageConvert::RGBToRGBa((unsigned char *)bitmap, (unsigned char *)I.bitmap, width * height);
+    }
     else {
       vpImage<vpRGBa> tmp(height, width);
       vpImageConvert::RGBToRGBa((unsigned char *)bitmap, (unsigned char *)tmp.bitmap, width * height);