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docs: update section headers in compressed image documentation for consistency

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ob-yalian
2026-06-09 18:25:12 +08:00
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docs/en/source/camera_devices/4_application_guide/compressed_image.md
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@@ -1,8 +1,8 @@
### Compressed Image
## Compressed Image
OrbbecSDK ROS2 supports publishing compressed image topics through `image_transport`. This is useful for reducing network bandwidth, viewing images remotely, and subscribing to the compressed color image directly when `color_format:=MJPG` is used to reduce host-side decoding overhead.
## Related Launch Parameters
### Related Launch Parameters
Compressed image publishing is controlled by the following launch parameters:
@@ -27,7 +27,7 @@ ros2 launch orbbec_camera gemini_330_series.launch.py \
color.image_raw.enable_pub_plugins:='["image_transport/raw"]'
```
## Common Compressed Image Topics
### Common Compressed Image Topics
The default camera namespace is `/camera`. If you change `camera_name` when launching the camera, replace `/camera` in the following topics with the actual namespace.
@@ -50,7 +50,7 @@ View compressed depth image messages:
ros2 topic echo /camera/depth/image_raw/compressedDepth --no-arr
```
## `color_format:=MJPG` Scenario
### `color_format:=MJPG` Scenario
When the color stream uses `color_format:=MJPG`, the ROS wrapper directly publishes `/camera/color/image_raw/compressed`. Subscribing to this topic avoids extra host-side MJPG decoding and usually reduces CPU usage.
@@ -66,7 +66,7 @@ ros2 topic echo /camera/color/image_raw/compressed --no-arr
If you subscribe to `/camera/color/image_raw`, the MJPG image still needs to be decoded on the host, which increases CPU usage. For more low-CPU configuration suggestions, see [Reducing CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md).
## Troubleshooting
### Troubleshooting
If you do not see compressed image topics, check the topic list first: