docs: clarify unaligned depth topic conditions

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.

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}"
 ```

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

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。

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}"
 ```

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