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docs: clarify unaligned depth topic conditions

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ob-yalian
2026-09-16 17:01:24 +08:00
parent 649a160bf8
commit f09415949c
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docs/en/source/camera_devices/4_application_guide/topics.md
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@@ -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.