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docs: add runtime configuration options for image streams and registration modes

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2026-07-14 15:48:08 +08:00
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docs/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md
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@@ -23,6 +23,21 @@ This section explains how to align depth images with color images to create an o
This launches the camera node with depth to color registration and opens a viewer to display the overlay image.
### Switching Registration Mode at Runtime
After the camera node starts, use `/camera/set_image_registration_mode` to switch registration mode without restarting the node. The supported modes are:
* `OFF`: Disable image registration.
* `HW_D2C`: Align depth to color in hardware.
* `SW_D2C`: Align depth to color in software.
* `SW_C2D`: Align color to depth in software.
Both color and depth streams must be enabled for every mode except `OFF`. The service stops and restarts streams automatically during the switch and restores the previous mode if the operation fails.
```bash
ros2 service call /camera/set_image_registration_mode orbbec_camera_msgs/srv/SetString "{data: SW_D2C}"
```
### Selecting Topics in RViz2
To visualize the aligned images in RViz2: