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docs: update color stream topic descriptions to clarify ROS image data formats and encoding

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ob-yalian
2026-09-15 10:22:29 +08:00
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commit 6d54444c66
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docs/en/source/camera_devices/4_application_guide/topics.md
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@@ -9,7 +9,7 @@ Topics are organized by stream and function. By default, all topics are publishe
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.
* `/camera/color/image_raw`
* Raw image data from the color stream. Subscribe to this topic for non-MJPG color formats such as RGB or YUYV.
* 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.
* `/camera/color/image_raw/compressed`
* Compressed image data from the MJPG color stream. When `color_format:=MJPG` is used, subscribe to this topic to avoid extra decoding in the ROS wrapper and reduce CPU usage.
* `/camera/color/camera_info`
docs/zh/source/camera_devices/4_application_guide/topics.md
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@@ -9,7 +9,7 @@
这些话题提供每个启用的相机数据流的原始图像数据和相应的校准信息。对于 `color`、`depth`、`ir`、`left_ir` 和 `right_ir` 数据流，模式是一致的。
* `/camera/color/image_raw`
* 彩色流的原始图像数据。彩色格式为 RGB/YUYV 等非 MJPG 时，通常订阅该话题。
* 彩色流的 ROS 图像数据。订阅该话题时，输入格式为 `YUYV`、`UYVY`、`I420`、`NV12`、`NV21` 或 `MJPG` 的彩色图像会在主机侧转换或解码为 `rgb8` 后发布；输入为 `RGB` 或 `RGB888` 时发布编码为 `rgb8`，输入为 `BGR`、`RGBA` 或 `BGRA` 时分别保留为 `bgr8`、`rgba8` 或 `bgra8`。
* `/camera/color/image_raw/compressed`
* 来自 MJPG 彩色流的压缩图像数据。使用 `color_format:=MJPG` 时建议订阅该话题，以避免 ROS wrapper 侧额外解码并降低 CPU 占用。
* `/camera/color/camera_info`