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docs: list side image stream topics

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ob-yalian
2026-09-16 18:20:52 +08:00
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docs/en/source/camera_devices/4_application_guide/topics.md
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@@ -6,7 +6,7 @@ Topics are organized by stream and function. By default, all topics are publishe
### Image Streams
These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for `color`, `depth`, `ir`, `left_ir`, and `right_ir` streams.
These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for `color`, `left_color`, `right_color`, `depth`, `ir`, `left_ir`, and `right_ir` streams.
* `/camera/color/image_raw`
* ROS image data from the color stream. When this topic is subscribed, color images with input formats `YUYV`, `UYVY`, `I420`, `NV12`, `NV21`, or `MJPG` are converted or decoded to `rgb8` on the host before publishing; `RGB` and `RGB888` are published with `rgb8`, while `BGR`, `RGBA`, and `BGRA` retain the corresponding `bgr8`, `rgba8`, and `bgra8` encodings.
@@ -17,6 +17,11 @@ These topics provide the raw image data and corresponding calibration informatio
* `/camera/color/metadata`
* Low-level metadata from the color stream firmware.
* `/camera/left_color/image_raw`
* ROS image data from the left color stream.
* `/camera/right_color/image_raw`
* ROS image data from the right color stream.
* `/camera/depth/image_raw`
* Raw image data from the depth stream.
* When `depth_colorizer_mode` is `none`, the topic keeps the raw depth encoding. `gray` changes the published encoding to `mono8`; `jet` and `jet_inv` change it to `rgb8`.
@@ -37,6 +42,10 @@ These topics provide the raw image data and corresponding calibration informatio
* Camera calibration data and metadata for the IR stream.
* `/camera/ir/metadata`
* Low-level metadata from the IR stream firmware.
* `/camera/left_ir/image_raw`
* Raw image data from the left IR stream.
* `/camera/right_ir/image_raw`
* Raw image data from the right IR stream.
### LRM Obstacle Distance