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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
parent 63ed47cb34
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`