Camera view poor performance: color shift (e.g. red -> blue)

[nunoguedelha]

When visualizing the iCub camera views in the Open-MC based visualizer, we observe a color shift, e.g. blue instead of red. Typically, when visualizing the fake framegrabber through the Open-MC based visualizer, we observe a swiping blue line instead of a red one.

[nunoguedelha]

By using the bouncing ball mode (option --mode ball) and change the code section https://github.com/robotology/yarp/blob/82bcafc792ba9b32aad771f7f5d6f3c52ba5fbbe/src/devices/fakeFrameGrabber/FakeFrameGrabber.cpp#L434-L442 for drawing 3 RGB circles instead of two

    case VOCAB_BALL:
        {
            if (have_bg) {
                image.copy(background);
            } else {
                image.zero();
            }
            addCircle(image,PixelRgb{255,0,0},bx,by,22);
            addCircle(image,PixelRgb{0,255,0},bx,by,15);
            addCircle(image,PixelRgb{0,0,255},bx,by,8);

we can check the color order used on the receiver side to be BGR:

1. Run the fakeFrameGrabber

   yarpdev --file fakeFrameGrabber_basic.ini --mode ball --name /icubSim/camLeftEye

   fakeFrameGrabber_basic.ini:

   device fakeFrameGrabber
   width 640
   height 480
   period 10
   syncro 1

2. Connect the the output port to a yarpview device.
3. Run the Open-MCT visualizer.

We need to understand how this order is configured on the Open-MCT API and change it.

[nunoguedelha]

As discussed in the call, Also check that the Open-MCT visualizer checks any present metadata about the RGB information.

[nunoguedelha]

Check https://github.com/robotology/yarp/pull/2061/files regarding how to check the used R, G, B order.

[nunoguedelha]

The color swap was due to an issue in yarp.js module (https://github.com/robotology/yarp.js/issues/41). Fixed by https://github.com/robotology/yarp.js/pull/40 .