From f09415949ca9218811b28436aa69191fb7c3e6fc Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Wed, 16 Sep 2026 16:04:27 +0800 Subject: [PATCH] docs: clarify unaligned depth topic conditions --- docs/en/source/camera_devices/4_application_guide/topics.md | 2 +- .../5_advanced_guide/configuration/align_depth_color.md | 2 ++ .../5_advanced_guide/configuration/enhanced_depth_filter.md | 2 +- docs/zh/source/camera_devices/4_application_guide/topics.md | 2 +- .../5_advanced_guide/configuration/align_depth_color.md | 2 ++ .../5_advanced_guide/configuration/enhanced_depth_filter.md | 2 +- 6 files changed, 8 insertions(+), 4 deletions(-) diff --git a/docs/en/source/camera_devices/4_application_guide/topics.md b/docs/en/source/camera_devices/4_application_guide/topics.md index 053b90d7..0a7de1d7 100644 --- a/docs/en/source/camera_devices/4_application_guide/topics.md +++ b/docs/en/source/camera_devices/4_application_guide/topics.md @@ -26,7 +26,7 @@ These topics provide the raw image data and corresponding calibration informatio * 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. + * **Condition:** Published only when `depth_registration` is `true`, `align_mode` is `SW`, and the alignment target is `COLOR` (software D2C); it is not published for software C2D or 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. diff --git a/docs/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md b/docs/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md index 8fa99d31..81382fbd 100644 --- a/docs/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md +++ b/docs/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md @@ -34,6 +34,8 @@ After the camera node starts, use `/camera/set_image_registration_mode` to switc 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. +When `depth_registration` is enabled, only `SW_D2C` publishes `/camera/depth/image_unaligned`; `SW_C2D` does not publish this topic. + ```bash ros2 service call /camera/set_image_registration_mode orbbec_camera_msgs/srv/SetString "{data: SW_D2C}" ``` diff --git a/docs/en/source/camera_devices/5_advanced_guide/configuration/enhanced_depth_filter.md b/docs/en/source/camera_devices/5_advanced_guide/configuration/enhanced_depth_filter.md index 1c9f5a3a..06d544e7 100644 --- a/docs/en/source/camera_devices/5_advanced_guide/configuration/enhanced_depth_filter.md +++ b/docs/en/source/camera_devices/5_advanced_guide/configuration/enhanced_depth_filter.md @@ -106,7 +106,7 @@ The following topic names assume the default `camera_name:=camera`. If `camera_n | Topic | Description | | --- | --- | | `/camera/depth/image_raw` | Publishes the enhanced aligned depth image when filtering succeeds. If filtering fails at runtime, the driver continues to publish the current unenhanced aligned depth image. | -| `/camera/depth/image_unaligned` | Publishes the depth image before software alignment. This topic is not published in hardware D2C mode. | +| `/camera/depth/image_unaligned` | Publishes the depth image before alignment only for software D2C (`align_mode:=SW` and `align_target_stream:=COLOR`). It is not published for software C2D or hardware D2C. | | `/camera/confidence/image_raw` | Publishes the confidence image with `mono8` encoding when filtering succeeds. | ## Check the Runtime Status diff --git a/docs/zh/source/camera_devices/4_application_guide/topics.md b/docs/zh/source/camera_devices/4_application_guide/topics.md index 8fbd5c53..212c277c 100644 --- a/docs/zh/source/camera_devices/4_application_guide/topics.md +++ b/docs/zh/source/camera_devices/4_application_guide/topics.md @@ -26,7 +26,7 @@ * 来自深度流固件的底层元数据。 * `/camera/depth/image_unaligned` * 软件对齐前的深度图像。 - * **条件：** 在 `depth_registration` 为 `true` 且 `align_mode` 为 `SW` 时发布；硬件对齐时不发布。 + * **条件：** 仅在 `depth_registration` 为 `true`、`align_mode` 为 `SW` 且对齐目标为 `COLOR`（SW D2C）时发布；SW C2D 和硬件对齐时不发布。 * `/camera/confidence/image_raw` * `EnhancedDepthFilter` 生成的置信度图像，根据置信度帧格式编码为 `mono8` 或 `mono16`。 * **条件：** 增强深度滤波成功且该话题有订阅者时发布。 diff --git a/docs/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md b/docs/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md index 6b7aea27..d2a1918d 100644 --- a/docs/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md +++ b/docs/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md @@ -35,6 +35,8 @@ 除 `OFF` 外，彩色流和深度流必须同时启用。服务会在切换过程中自动停止并重新启动数据流；切换失败时恢复原模式。 +启用 `depth_registration` 时，只有 `SW_D2C` 会发布 `/camera/depth/image_unaligned`；`SW_C2D` 不发布该话题。 + ```bash ros2 service call /camera/set_image_registration_mode orbbec_camera_msgs/srv/SetString "{data: SW_D2C}" ``` diff --git a/docs/zh/source/camera_devices/5_advanced_guide/configuration/enhanced_depth_filter.md b/docs/zh/source/camera_devices/5_advanced_guide/configuration/enhanced_depth_filter.md index a8bf61d2..485b5039 100644 --- a/docs/zh/source/camera_devices/5_advanced_guide/configuration/enhanced_depth_filter.md +++ b/docs/zh/source/camera_devices/5_advanced_guide/configuration/enhanced_depth_filter.md @@ -106,7 +106,7 @@ RGB、YUYV、UYVY、MJPG、BGR、RGBA、Y16、Y8 | 话题 | 说明 | | --- | --- | | `/camera/depth/image_raw` | 滤波成功时发布增强后的对齐深度图像。运行中滤波失败时，驱动继续发布当前未增强的对齐深度图像。 | -| `/camera/depth/image_unaligned` | 软件对齐时发布对齐前的深度图像。硬件 D2C 模式不发布该话题。 | +| `/camera/depth/image_unaligned` | 仅在软件 D2C（`align_mode:=SW` 且 `align_target_stream:=COLOR`）时发布对齐前的深度图像；软件 C2D 和硬件 D2C 模式不发布该话题。 | | `/camera/confidence/image_raw` | 滤波成功时发布 `mono8` 编码的置信度图像。 | ## 确认运行状态