Update SDK version to v2.4.7

orbbec_camera/SDK/include/libobsensor/h/Advanced.h

@@ -269,6 +269,42 @@ OB_EXPORT const char *ob_device_frame_interleave_list_get_name(ob_device_frame_i
 OB_EXPORT bool ob_device_frame_interleave_list_has_frame_interleave(ob_device_frame_interleave_list *frame_interleave_list, const char *frame_interleave_name,
                                                                     ob_error **error);
 
+/* @brief Get the available preset resolution config list.
+ *
+ * @param device The device object.
+ * @param error  Log error messages.
+ * @return The available frame interleave list.
+ *
+ */
+OB_EXPORT ob_preset_resolution_config_list *ob_device_get_available_preset_resolution_config_list(ob_device *device, ob_error **error);
+
+/* @brief Get the number of preset resolution in the preset resolution list.
+ *
+ * @param ob_preset_resolution_config_list The available preset resolution list.
+ * @param error  Log error messages.
+ * @return  The number of preset resolution in the preset resolution list.
+ */
+OB_EXPORT uint32_t ob_device_preset_resolution_config_get_count(ob_preset_resolution_config_list *ob_preset_resolution_config_list, ob_error **error);
+
+/**
+ * @brief Get the preset resolution in the preset resolution list.
+ *
+ * @param ob_preset_resolution_config_list The available preset resolution list.
+ * @param index  The index of preset resolution in the preset resolution list.
+ * @param error  Log error messages.
+ * @return  The preset resolution in the preset resolution list.
+ */
+OB_EXPORT OBPresetResolutionConfig ob_device_preset_resolution_config_list_get_item(const ob_preset_resolution_config_list *ob_preset_resolution_config_lis,
+                                                                                    uint32_t index, ob_error **error);
+
+/**
+ * @brief Delete the available preset resolution list.
+ *
+ * @param frame_interleave_list The available preset resolution list.
+ * @param error  Log error messages.
+ */
+OB_EXPORT void ob_delete_preset_resolution_config_list(ob_preset_resolution_config_list *ob_preset_resolution_config_list, ob_error **error);
+
 // The following interfaces are deprecated and are retained here for compatibility purposes.
 #define ob_depth_work_mode_list_count ob_depth_work_mode_list_get_count
 #define ob_device_preset_list_count ob_device_preset_list_get_count

orbbec_camera/SDK/include/libobsensor/h/ObTypes.h

@@ -39,6 +39,7 @@ typedef struct ob_depth_work_mode_list_t         ob_depth_work_mode_list;
 typedef struct ob_device_preset_list_t           ob_device_preset_list;
 typedef struct ob_filter_config_schema_list_t    ob_filter_config_schema_list;
 typedef struct ob_device_frame_interleave_list_t ob_device_frame_interleave_list;
+typedef struct ob_preset_resolution_config_list_t ob_preset_resolution_config_list;
 
 #define OB_WIDTH_ANY 0
 #define OB_HEIGHT_ANY 0
@@ -134,6 +135,7 @@ typedef enum {
     OB_SENSOR_IR_LEFT   = 6, /**< left IR for stereo camera*/
     OB_SENSOR_IR_RIGHT  = 7, /**< Right IR for stereo camera*/
     OB_SENSOR_RAW_PHASE = 8, /**< Raw Phase */
+    OB_SENSOR_CONFIDENCE = 9,/**< Confidence */
     OB_SENSOR_TYPE_COUNT,    /**The total number of sensor types, is not a valid sensor type */
 } OBSensorType,
     ob_sensor_type;
@@ -152,6 +154,7 @@ typedef enum {
     OB_STREAM_IR_LEFT   = 6,  /**< Left IR stream for stereo camera */
     OB_STREAM_IR_RIGHT  = 7,  /**< Right IR stream for stereo camera */
     OB_STREAM_RAW_PHASE = 8,  /**< RawPhase Stream */
+    OB_STREAM_CONFIDENCE = 9, /**< Confidence Stream*/
     OB_STREAM_TYPE_COUNT,     /**< The total number of stream type,is not a valid stream type */
 } OBStreamType,
     ob_stream_type;
@@ -172,6 +175,7 @@ typedef enum {
     OB_FRAME_IR_LEFT   = 8,  /**< Left IR frame for stereo camera */
     OB_FRAME_IR_RIGHT  = 9,  /**< Right IR frame for stereo camera */
     OB_FRAME_RAW_PHASE = 10, /**< Raw Phase frame*/
+    OB_FRAME_CONFIDENCE = 11,/**< Confidence frame*/
     OB_FRAME_TYPE_COUNT,     /**< The total number of frame types, is not a valid frame type */
 } OBFrameType,
     ob_frame_type;
@@ -227,6 +231,7 @@ typedef enum {
     OB_FORMAT_RGBA       = 31, /**< RGBA format */
     OB_FORMAT_BYR2       = 32, /**< byr2 format */
     OB_FORMAT_RW16       = 33, /**< RAW16 format */
+    OB_FORMAT_Y12C4      = 34, /**<  Y12C4 format */
 } OBFormat,
     ob_format;
 
@@ -449,6 +454,13 @@ typedef struct {
     bool               isMirrored;       ///< Whether the image frame corresponding to this group of parameters is mirrored
 } OBCameraParam, ob_camera_param;
 
+typedef struct {
+    int16_t width;                  ///< width
+    int16_t height;                 ///< height
+    int     irDecimationFactor;     ///< ir decimation factor
+    int     depthDecimationFactor;  ///< depth decimation factor
+} OBPresetResolutionConfig, ob_preset_resolution_ratio_config;
+
 /**
  * @brief calibration parameters
  */
@@ -1829,7 +1841,7 @@ typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, v
  */
 #define ob_is_video_sensor_type(sensor_type)                                                                                             \
     (sensor_type == OB_SENSOR_COLOR || sensor_type == OB_SENSOR_DEPTH || sensor_type == OB_SENSOR_IR || sensor_type == OB_SENSOR_IR_LEFT \
-     || sensor_type == OB_SENSOR_IR_RIGHT)
+     || sensor_type == OB_SENSOR_IR_RIGHT || sensor_type == OB_SENSOR_CONFIDENCE)
 
 /**
  * @brief check if the stream_type is a video stream
@@ -1839,7 +1851,7 @@ typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, v
  */
 #define ob_is_video_stream_type(stream_type)                                                                                             \
     (stream_type == OB_STREAM_COLOR || stream_type == OB_STREAM_DEPTH || stream_type == OB_STREAM_IR || stream_type == OB_STREAM_IR_LEFT \
-     || stream_type == OB_STREAM_IR_RIGHT || stream_type == OB_STREAM_VIDEO)
+     || stream_type == OB_STREAM_IR_RIGHT || stream_type == OB_STREAM_VIDEO || stream_type == OB_STREAM_CONFIDENCE)
 
 /**
  * @brief Check if sensor_type is an IR sensor

orbbec_camera/SDK/include/libobsensor/h/Property.h

@@ -515,6 +515,36 @@ typedef enum {
      */
     OB_DEVICE_PTP_CLOCK_SYNC_ENABLE_BOOL = 223,
 
+    /**
+     * @brief Depth with confidence stream enable
+     */
+    OB_PROP_DEPTH_WITH_CONFIDENCE_STREAM_ENABLE_BOOL = 224,
+
+    /**
+     * @brief Enable or disable confidence stream filter
+     */
+    OB_PROP_CONFIDENCE_STREAM_FILTER_BOOL = 226,
+
+    /**
+     * @brief Confidence stream filter threshold, range [0, 255]
+     */
+    OB_PROP_CONFIDENCE_STREAM_FILTER_THRESHOLD_INT = 227,
+
+    /**
+     * @brief Confidence stream mirror enable
+     */
+    OB_PROP_CONFIDENCE_MIRROR_BOOL = 229,
+
+    /**
+     * @brief Confidence stream flip enable
+     */
+    OB_PROP_CONFIDENCE_FLIP_BOOL   = 230,
+
+    /**
+     * @brief Confidence stream rotate angle{0, 90, 180, 270}
+     */
+    OB_PROP_CONFIDENCE_ROTATE_INT  = 231,
+
     /**
      * @brief Baseline calibration parameters
      */
@@ -604,6 +634,11 @@ typedef enum {
      */
     OB_STRUCT_DISP_OFFSET_CONFIG = 1064,
 
+    /**
+     * @brief Preset resolution ratio configuration
+     */
+    OB_STRUCT_PRESET_RESOLUTION_CONFIG = 1069,
+
     /**
      * @brief Color camera auto exposure
      */

orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp

@@ -30,6 +30,7 @@ class DevicePresetList;
 class OBDepthWorkModeList;
 class CameraParamList;
 class DeviceFrameInterleaveList;
+class PresetResolutionConfigeList;
 
 class Device {
 public:
@@ -822,6 +823,18 @@ public:
         return std::make_shared<DeviceFrameInterleaveList>(list);
     }
 
+    /**
+     * @brief Get available frame interleave list
+     *
+     * @return DeviceFrameInterleaveList return the available frame interleave list.
+     */
+    std::shared_ptr<PresetResolutionConfigeList> getAvailablePresetResolutionConfigeList() const {
+        ob_error *error = nullptr;
+        auto      list  = ob_device_get_available_preset_resolution_config_list(impl_, &error);
+        Error::handle(&error);
+        return std::make_shared<PresetResolutionConfigeList>(list);
+    }
+
 private:
     static void firmwareUpdateCallback(ob_fw_update_state state, const char *message, uint8_t percent, void *userData) {
         auto device = static_cast<Device *>(userData);
@@ -1502,4 +1515,42 @@ public:
     }
 };
 
+/**
+ * @brief Class representing a list of device Frame Interleave
+ */
+class PresetResolutionConfigeList {
+private:
+    ob_preset_resolution_config_list_t *impl_ = nullptr;
+
+public:
+    explicit PresetResolutionConfigeList(ob_preset_resolution_config_list_t *impl) : impl_(impl) {}
+    ~PresetResolutionConfigeList() noexcept {
+        ob_error *error = nullptr;
+        ob_delete_preset_resolution_config_list(impl_, &error);
+        Error::handle(&error, false);
+    }
+
+    /**
+     * @brief Get the number of device preset resolution ratio in the list
+     */
+    uint32_t getCount() {
+        ob_error *error = nullptr;
+        auto      count = ob_device_preset_resolution_config_get_count(impl_, &error);
+        Error::handle(&error);
+        return count;
+    }
+
+    /*
+     *  @brief Get the device preset resolution ratio at the specified index
+     *  @param index the index of the device preset resolution ratio
+     *  @return OBPresetResolutionConfig the corresponding device preset resolution ratio
+     */
+    OBPresetResolutionConfig getPresetResolutionRatioConfig(uint32_t index) {
+        ob_error *error  = nullptr;
+        auto      config = ob_device_preset_resolution_config_list_get_item(impl_, index, &error);
+        Error::handle(&error);
+        return config;
+    }
+};
+
 }  // namespace ob

orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp

@@ -347,7 +347,7 @@ public:
         init(impl);
     }
 
-    virtual ~PointCloudFilter() noexcept = default;
+    virtual ~PointCloudFilter() noexcept override = default;
 
     /**
      * @brief Set the output pointcloud frame format.
@@ -421,7 +421,7 @@ public:
         setConfigValue("AlignType", static_cast<double>(alignToStreamType));
     }
 
-    virtual ~Align() noexcept = default;
+    virtual ~Align() noexcept override = default;
 
     OBStreamType getAlignToStreamType() {
         return static_cast<OBStreamType>(static_cast<int>(getConfigValue("AlignType")));
@@ -466,7 +466,7 @@ public:
         init(impl);
     }
 
-    virtual ~FormatConvertFilter() noexcept = default;
+    virtual ~FormatConvertFilter() noexcept override = default;
 
     /**
      * @brief Set the format conversion type.
@@ -492,7 +492,7 @@ public:
         init(impl);
     }
 
-    virtual ~HdrMerge() noexcept = default;
+    virtual ~HdrMerge() noexcept override = default;
 };
 
 /**
@@ -524,7 +524,7 @@ public:
         initSequenceIdList();
     }
 
-    virtual ~SequenceIdFilter() noexcept {
+    virtual ~SequenceIdFilter() noexcept override {
         if(outputSequenceIdList_) {
             delete[] outputSequenceIdList_;
             outputSequenceIdList_ = nullptr;
@@ -575,7 +575,7 @@ public:
         init(impl);
     }
 
-    virtual ~DecimationFilter() noexcept = default;
+    virtual ~DecimationFilter() noexcept override = default;
 
     /**
      * @brief Set the decimation filter scale value.
@@ -619,7 +619,7 @@ public:
         init(impl);
     }
 
-    virtual ~ThresholdFilter() noexcept = default;
+    virtual ~ThresholdFilter() noexcept override = default;
 
     /**
      * @brief Get the threshold filter min range.
@@ -682,7 +682,7 @@ public:
         init(impl);
     }
 
-    virtual ~SpatialAdvancedFilter() noexcept = default;
+    virtual ~SpatialAdvancedFilter() noexcept override = default;
 
     /**
      * @brief Get the spatial advanced filter alpha range.
@@ -791,7 +791,7 @@ public:
         init(impl);
     }
 
-    ~HoleFillingFilter() noexcept = default;
+    ~HoleFillingFilter() noexcept override = default;
 
     /**
      * @brief Set the HoleFillingFilter mode.
@@ -824,7 +824,7 @@ public:
         init(impl);
     }
 
-    ~NoiseRemovalFilter() noexcept = default;
+    ~NoiseRemovalFilter() noexcept override = default;
 
     /**
      * @brief Set the noise removal filter params.
@@ -895,7 +895,7 @@ public:
         init(impl);
     }
 
-    ~TemporalFilter() noexcept = default;
+    ~TemporalFilter() noexcept override = default;
 
     /**
      * @brief Get the TemporalFilter diffscale range.
@@ -962,7 +962,7 @@ public:
         init(impl);
     }
 
-    ~DisparityTransform() noexcept = default;
+    ~DisparityTransform() noexcept override = default;
 };
 
 class OBFilterList {

orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp

@@ -553,6 +553,28 @@ public:
     ~IRFrame() noexcept override = default;
 };
 
+/**
+ * @brief Define the ConfidenceFrame class, which inherits from the VideoFrame class
+ *
+ */
+class ConfidenceFrame : public VideoFrame {
+
+public:
+    /**
+     * @brief Construct a new ConfidenceFrame object with a given pointer to the internal frame object.
+     *
+     * @attention After calling this constructor, the frame object will own the internal frame object, and the internal frame object will be deleted when the
+     * frame object is destroyed.
+     * @attention The internal frame object should not be deleted by the caller.
+     * @attention Please use the FrameFactory to create a Frame object.
+     *
+     * @param impl The pointer to the internal frame object.
+     */
+    explicit ConfidenceFrame(const ob_frame *impl) : VideoFrame(impl){};
+
+    ~ConfidenceFrame() noexcept override = default;
+};
+
 /**
  * @brief Define the PointsFrame class, which inherits from the Frame class
  * @brief The PointsFrame class is used to obtain pointcloud data and point cloud information.
@@ -1036,6 +1058,8 @@ template <typename T> bool Frame::is() const {
         return (typeid(T) == typeid(DepthFrame) || typeid(T) == typeid(VideoFrame));
     case OB_FRAME_COLOR:
         return (typeid(T) == typeid(ColorFrame) || typeid(T) == typeid(VideoFrame));
+    case OB_FRAME_CONFIDENCE:
+        return (typeid(T) == typeid(ConfidenceFrame) || typeid(T) == typeid(VideoFrame));
     case OB_FRAME_GYRO:
         return (typeid(T) == typeid(GyroFrame));
     case OB_FRAME_ACCEL:

orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp

@@ -20,7 +20,7 @@ typedef std::function<void(OBPlaybackStatus status)> PlaybackStatusChangeCallbac
 
 class RecordDevice {
 private:
-    ob_record_device_t *impl_;
+    ob_record_device_t *impl_ = nullptr;
 
 public:
     explicit RecordDevice(std::shared_ptr<Device> device, const std::string &file, bool compressionEnabled = true) {
@@ -35,14 +35,14 @@ public:
         Error::handle(&error, false);
     }
 
-    RecordDevice(RecordDevice &&other) {
+    RecordDevice(RecordDevice &&other) noexcept {
         if(this != &other) {
             impl_       = other.impl_;
             other.impl_ = nullptr;
         }
     }
 
-    RecordDevice &operator=(RecordDevice &&other) {
+    RecordDevice &operator=(RecordDevice &&other) noexcept {
         if(this != &other) {
             impl_       = other.impl_;
             other.impl_ = nullptr;
@@ -76,11 +76,11 @@ public:
         Error::handle(&error);
     }
 
-    virtual ~PlaybackDevice() noexcept = default;
+    virtual ~PlaybackDevice() noexcept override = default;
 
-    PlaybackDevice(PlaybackDevice &&other) : Device(std::move(other)) {}
+    PlaybackDevice(PlaybackDevice &&other) noexcept : Device(std::move(other)) {}
 
-    PlaybackDevice &operator=(PlaybackDevice &&other) {
+    PlaybackDevice &operator=(PlaybackDevice &&other) noexcept {
         Device::operator=(std::move(other));
         return *this;
     }

orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp

@@ -387,6 +387,7 @@ template <typename T> bool StreamProfile::is() const {
     case OB_STREAM_COLOR:
     case OB_STREAM_DEPTH:
     case OB_STREAM_RAW_PHASE:
+    case OB_STREAM_CONFIDENCE:
         return typeid(T) == typeid(VideoStreamProfile);
     case OB_STREAM_ACCEL:
         return typeid(T) == typeid(AccelStreamProfile);
@@ -411,6 +412,7 @@ public:
         case OB_STREAM_DEPTH:
         case OB_STREAM_COLOR:
         case OB_STREAM_VIDEO:
+        case OB_STREAM_CONFIDENCE:
             return std::make_shared<VideoStreamProfile>(impl);
         case OB_STREAM_ACCEL:
             return std::make_shared<AccelStreamProfile>(impl);

orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp

@@ -112,6 +112,7 @@ public:
      *      OB_SENSOR_IR,
      *      OB_SENSOR_IR_LEFT,
      *      OB_SENSOR_IR_RIGHT,
+     *      OB_SENSOR_CONFIDENCE,
      *
      * @param type The sensor type
      * @return true
@@ -131,6 +132,7 @@ public:
      *      OB_STREAM_IR,
      *      OB_STREAM_IR_LEFT,
      *      OB_STREAM_IR_RIGHT,
+     *      OB_STREAM_CONFIDENCE,
      *
      * @param type The stream type to check.
      * @return true if the given stream type is a video stream, false otherwise.

orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.3"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.7"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.3" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.7" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.4.3
+libOrbbecSDK.so.2.4.7

orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.3"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.7"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.3" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.7" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.4.3
+libOrbbecSDK.so.2.4.7

orbbec_camera/config/OrbbecSDKConfig_v2.0.xml

@@ -129,7 +129,7 @@
                 <!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
                 <GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
             </Misc>
-
+            
             <Depth>
                 <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
@@ -400,7 +400,7 @@
             </Misc>
 
             <!-- Whether to enable heartbeat by default -->
-            <DefaulHeartBeat>0</DefaulHeartBeat>
+            <DefaultHeartBeat>0</DefaultHeartBeat>
 
             <Depth>
                 <!-- The resolution width is enabled by default, int type -->
@@ -548,7 +548,7 @@
             </Misc>
 
             <!-- Whether to enable heartbeat by default -->
-            <DefaulHeartBeat>0</DefaulHeartBeat>
+            <DefaultHeartBeat>0</DefaultHeartBeat>
 
             <!-- TODO lumiaozi It is cumbersome to consider the recommended configuration in
             different camera depth modes -->
@@ -658,7 +658,7 @@
             </Misc>
 
             <!-- Whether to enable heartbeat by default -->
-            <DefaulHeartBeat>0</DefaulHeartBeat>
+            <DefaultHeartBeat>0</DefaultHeartBeat>
 
             <Depth>
                 <!-- The resolution width is enabled by default, int type -->
@@ -1200,7 +1200,7 @@
                 <Format>Y8</Format>
             </RightIR>
         </Gemini335Lg>
-
+		
 		<!-- Gemini335Le config -->
         <Gemini335Le>
             <!-- Whether to enable heartbeat by default -->
@@ -1217,12 +1217,12 @@
                 <!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
                 <GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
             </Misc>
-
+			
 			<DepthPostProcessing>
                 <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                 <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
             </DepthPostProcessing>
-
+			
 			<!-- Whether to enable heartbeat by default -->
             <DefaultHeartBeat>0</DefaultHeartBeat>
             <!-- Whether to enable firmware upgrade foolproof by default, only internal version
@@ -1791,7 +1791,7 @@
             </Misc>
 
             <!-- Whether to enable heartbeat by default -->
-            <DefaulHeartBeat>0</DefaulHeartBeat>
+            <DefaultHeartBeat>0</DefaultHeartBeat>
 
             <Depth>
                 <!-- The resolution width is enabled by default, int type -->
@@ -1839,7 +1839,7 @@
             </Misc>
 
             <!-- Whether to enable heartbeat by default -->
-            <DefaulHeartBeat>0</DefaulHeartBeat>
+            <DefaultHeartBeat>0</DefaultHeartBeat>
 
             <Depth>
                 <!-- The resolution width is enabled by default, int type -->
@@ -2047,7 +2047,7 @@
                 <Format>Y8</Format>
             </RightIR>
         </CAM-5530>
-
+        
                <!--  Gemini435Le config -->
         <Gemini435Le>
             <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
@@ -2055,11 +2055,20 @@
             <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
 
             <!-- Whether to enable heartbeat by default -->
-            <DefaulHeartBeat>0</DefaulHeartBeat>
+            <DefaultHeartBeat>0</DefaultHeartBeat>
 
             <!--Max frame delay-->
             <MaxFrameDelay>1.2</MaxFrameDelay>
 
+            <Misc>
+                <GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
+                <!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
+                minimum value: 100, it is recommended not to be greater than 1000 -->
+                <GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
+                <!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
+                <GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
+            </Misc>
+
             <Depth>
                 <!-- Number of retries for open stream failures, 0 means no retries -->
                 <StreamFailedRetry>15</StreamFailedRetry>
@@ -2075,7 +2084,7 @@
                 <Height>800</Height>
                 <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>10</FPS>
-                <Format>RVL</Format>
+                <Format>Y16</Format>
             </Depth>
             <Color>
                 <!-- The resolution width is enabled by default, int type -->
@@ -2329,4 +2338,4 @@
             </In-sceneCalibration>
         </Gemini435Le>
     </Device>
-</Config>
+</Config>