diff --git a/src/converters/camera.cpp b/src/converters/camera.cpp
index 337358d3..b432e9d3 100644
--- a/src/converters/camera.cpp
+++ b/src/converters/camera.cpp
@@ -28,11 +28,6 @@
 */
 #include <cv_bridge/cv_bridge.h>
 
-/*
-* CV includes
-*/
-#include <opencv2/imgproc/imgproc.hpp>
-
 /*
 * BOOST includes
 */
@@ -126,7 +121,7 @@ CameraConverter::CameraConverter( const std::string& name, const float& frequenc
     camera_source_(camera_source),
     resolution_(resolution),
     // change in case of depth camera
-    colorspace_( (camera_source_!=AL::kDepthCamera)?AL::kRGBColorSpace:AL::kRawDepthColorSpace ),
+    colorspace_( (camera_source_!=AL::kDepthCamera)?AL::kYUV422ColorSpace:AL::kRawDepthColorSpace ),
     msg_colorspace_( (camera_source_!=AL::kDepthCamera)?"rgb8":"16UC1" ),
     cv_mat_type_( (camera_source_!=AL::kDepthCamera)?CV_8UC3:CV_16U ),
     camera_info_( camera_info_definitions::getCameraInfo(camera_source, resolution) )
@@ -211,8 +206,15 @@ void CameraConverter::callAll( const std::vector<message_actions::MessageAction>
   }
 
   // Create a cv::Mat of the right dimensions
-  cv::Mat cv_img(image.height, image.width, cv_mat_type_, image.buffer);
-  msg_ = cv_bridge::CvImage(std_msgs::Header(), msg_colorspace_, cv_img).toImageMsg();
+  if (colorspace_ == AL::kYUV422ColorSpace)
+  {
+    cv::Mat cv_YUV(image.height, image.width, CV_8UC2, image.buffer);
+    cvtColor(cv_YUV, cv_img_, CV_YUV2RGB_YUYV);
+  }
+  else
+    cv_img_= cv::Mat(image.height, image.width, cv_mat_type_,image.buffer);
+
+  msg_ = cv_bridge::CvImage(std_msgs::Header(), msg_colorspace_, cv_img_).toImageMsg();
   msg_->header.frame_id = msg_frameid_;
 
   msg_->header.stamp = ros::Time::now();
diff --git a/src/converters/camera.hpp b/src/converters/camera.hpp
index 88d13c58..74880fd4 100644
--- a/src/converters/camera.hpp
+++ b/src/converters/camera.hpp
@@ -29,6 +29,11 @@
 */
 #include <image_transport/image_transport.h>
 
+/*
+* CV includes
+*/
+#include <opencv2/imgproc/imgproc.hpp>
+
 namespace naoqi
 {
 namespace converter
@@ -64,6 +69,7 @@ class CameraConverter : public BaseConverter<CameraConverter>
   // goes along with colorspace_
   std::string msg_colorspace_;
   int cv_mat_type_;
+  cv::Mat cv_img_;
   // msg frame id
   std::string msg_frameid_;
   sensor_msgs::CameraInfo camera_info_;