diff --git a/cmvr-es/service/grpc/src/grpc_camera_service.cpp b/cmvr-es/service/grpc/src/grpc_camera_service.cpp
index 449249ae..020d4d9e 100644
--- a/cmvr-es/service/grpc/src/grpc_camera_service.cpp
+++ b/cmvr-es/service/grpc/src/grpc_camera_service.cpp
@@ -12,6 +12,7 @@
 #include <cstdint>
 #include <limits>
 #include <thread>
+#include <utility>
 
 using namespace std;
 using namespace cmvr::service;
@@ -219,6 +220,13 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImage(grpc::ServerContext* context,
         response->mutable_header()->set_success(true);
         setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
 
+        // Keep the single-frame contract explicit: FrameData::U8C3 is RGB
+        // byte order, while OpenCV/RealSense images are normally BGR.
+        if (image.type() == CV_8UC3) {
+            cv::Mat rgb_image;
+            cv::cvtColor(image, rgb_image, cv::COLOR_BGR2RGB);
+            image = std::move(rgb_image);
+        }
         auto imageType = image.type();
         if (imageType == CV_8UC1) {
             response->mutable_color_frame()->set_type(api::FrameData::U8C1);
@@ -337,9 +345,12 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImages(grpc::ServerContext* context,
         response->mutable_header()->set_success(true);
         setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
 
-        // color image is serialized in the existing OpenCV BGR byte order;
-        // clients convert it once when constructing an RGB image.
+        // Keep the single-frame contract explicit: FrameData::U8C3 is RGB
+        // byte order, while OpenCV/RealSense images are normally BGR.
         if (color_image.type() == CV_8UC3) {
+            cv::Mat rgb_image;
+            cv::cvtColor(color_image, rgb_image, cv::COLOR_BGR2RGB);
+            color_image = std::move(rgb_image);
             response->mutable_color_frame()->set_type(api::FrameData::U8C3);
         }
         else if (color_image.type() == CV_16UC3) {