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docs: update migration guide and topic reference

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2026-07-23 10:08:23 +08:00
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docs/en/source/camera_devices/4_application_guide/topics.md
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@@ -23,6 +23,12 @@ These topics provide the raw image data and corresponding calibration informatio
* Camera calibration data and metadata for the depth stream.
* `/camera/depth/metadata`
* Low-level metadata from the depth stream firmware.
* `/camera/depth/image_unaligned`
* Depth image before software alignment.
* **Condition:** Published when `depth_registration` is `true` and `align_mode` is `SW`; it is not published for hardware alignment.
* `/camera/confidence/image_raw`
* Confidence image generated by `EnhancedDepthFilter`, encoded as `mono8` or `mono16` according to the confidence frame format.
* **Condition:** Published when enhanced depth filtering succeeds and the topic has a subscriber.
* `/camera/ir/image_raw`
* Raw image data from the infrared (IR) stream.
@@ -63,6 +69,28 @@ The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope d
* Synchronized data stream containing both accelerometer and gyroscope data in a single message.
* **Condition:** Published when `enable_sync_output_accel_gyro` is `true`.
* `/camera/accel/imu_info`
* Accelerometer calibration and noise characteristics. The type is `orbbec_camera_msgs/msg/IMUInfo`.
* **Condition:** Available with accelerometer output.
* `/camera/gyro/imu_info`
* Gyroscope calibration and noise characteristics. The type is `orbbec_camera_msgs/msg/IMUInfo`.
* **Condition:** Available with gyroscope output.
### Extrinsics Topics
The following topics publish stream-to-stream extrinsics with type `orbbec_camera_msgs/msg/Extrinsics`:
* `/camera/depth_to_ir`
* `/camera/depth_to_color`
* `/camera/depth_to_left_ir`
* `/camera/depth_to_right_ir`
* `/camera/depth_to_accel`
* `/camera/depth_to_gyro`
* `/camera/left_color_to_right_color`
**Condition:** `enable_publish_extrinsic` must be `true`, and both streams represented by the selected topic must be enabled. Only topics supported by the connected device are published.
### Device Status & Diagnostics
* `/camera/device_status`