From a80a02b3b707772e051a2ab13bd9ae55c1ba15c0 Mon Sep 17 00:00:00 2001
From: ob-yalian <ob-yalian@users.noreply.github.com>
Date: Tue, 24 Mar 2026 07:49:16 +0000
Subject: [PATCH] deploy: b332fae572831875dac930de7e3f136a4bd2a037

---
 en/.doctrees/environment.pickle               | Bin 165317 -> 163367 bytes
 .../1_overview/introduction.doctree           | Bin 33527 -> 33527 bytes
 .../3_quickstarts/orbbecviewer.doctree        | Bin 11792 -> 11792 bytes
 .../launch_parameters.doctree                 | Bin 125358 -> 133990 bytes
 .../4_application_guide/services.doctree      | Bin 45951 -> 49172 bytes
 .../configuration/net_camera.doctree          | Bin 26074 -> 26638 bytes
 .../configuration/predefined_presets.doctree  | Bin 16711 -> 17291 bytes
 ...ti_camera_synced_verification_tool.doctree | Bin 24112 -> 24594 bytes
 .../6_benchmark/benchmark.doctree             | Bin 3410 -> 3348 bytes
 .../6_benchmark/benchmark_data.doctree        | Bin 6050 -> 0 bytes
 .../1_overview/introduction.md.txt            |   6 +-
 .../3_quickstarts/orbbecviewer.md.txt         |   2 +-
 .../launch_parameters.md.txt                  | 166 ++++---
 .../4_application_guide/services.md.txt       |  18 +-
 .../configuration/net_camera.md.txt           |   2 +
 .../configuration/predefined_presets.md.txt   |   1 +
 ...lti_camera_synced_verification_tool.md.txt |   1 +
 .../6_benchmark/benchmark.rst.txt             |   3 +-
 .../6_benchmark/benchmark_data.md.txt         |  19 -
 en/_static/ros2_common_benchmark_data.xlsx    | Bin 24681 -> 0 bytes
 en/_static/ros2_service_benchmark_cpp.xlsx    | Bin 23500 -> 0 bytes
 en/_static/ros2_service_benchmark_python.xlsx | Bin 23481 -> 0 bytes
 en/genindex.html                              |  19 +-
 en/index.html                                 |  22 +-
 en/objects.inv                                | Bin 6758 -> 6698 bytes
 en/search.html                                |  19 +-
 en/searchindex.js                             |   2 +-
 .../1_overview/introduction.html              |  25 +-
 .../1_overview/orbbecsdk_overview.html        |  19 +-
 .../camera_devices/1_overview/overview.html   |  19 +-
 .../2_installation/build_the_package.html     |  19 +-
 .../2_installation/installation.html          |  19 +-
 .../2_installation/registration_script.html   |  19 +-
 .../3_quickstarts/orbbecviewer.html           |  21 +-
 .../3_quickstarts/quickstart.html             |  19 +-
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 .../application_guide.html                    |  19 +-
 .../4_application_guide/compressed_image.html |  19 +-
 .../coordinate_and_tf.html                    |  19 +-
 .../launch_parameters.html                    | 199 +++++---
 .../4_application_guide/point_cloud.html      |  19 +-
 .../4_application_guide/services.html         |  51 +-
 .../4_application_guide/topics.html           |  19 +-
 .../5_advanced_guide/advanced_guide.html      |  19 +-
 .../configuration/align_depth_color.html      |  19 +-
 ...guration_of_depth_NFOV_and_WFOV_modes.html |  19 +-
 .../configuration/depth_work_mode_switch.html |  19 +-
 .../disparity_search_offset.html              |  19 +-
 .../configuration/interleave_ae_mode.html     |  19 +-
 .../configuration/net_camera.html             |  25 +-
 .../configuration/predefined_presets.html     |  33 +-
 .../multi_camera/gmsl_camera.html             |  19 +-
 .../multi_camera/multi_camera.html            |  19 +-
 .../multi_camera/multi_camera_synced.html     |  19 +-
 ...multi_camera_synced_verification_tool.html |  22 +-
 ...efficient_intra_process_communication.html |  19 +-
 .../performance/fastdds_tuning.html           |  19 +-
 .../performance/lower_cpu_usage.html          |  19 +-
 .../camera_devices/6_benchmark/benchmark.html |  30 +-
 .../6_benchmark/benchmark_data.html           | 466 ------------------
 .../6_benchmark/benchmark_usage.html          |  23 +-
 .../6_benchmark/introduction.html             |  19 +-
 .../6_benchmark/othertools.html               |  39 +-
 .../building_a_Debian_Package.html            |  19 +-
 .../7_developer_guide/developer_guide.html    |  23 +-
 .../7_developer_guide/migration_guide.html    |  19 +-
 en/source/camera_devices/8_FAQ/FAQ.html       |  19 +-
 en/source/camera_devices/index.html           |  28 +-
 en/source/license.html                        |  19 +-
 en/source/lidar_devices/index.html            |  19 +-
 en/source/lidar_devices/lidar.html            |  19 +-
 zh/.doctrees/environment.pickle               | Bin 153867 -> 151947 bytes
 .../1_overview/introduction.doctree           | Bin 32600 -> 32600 bytes
 .../3_quickstarts/orbbecviewer.doctree        | Bin 11206 -> 11206 bytes
 .../launch_parameters.doctree                 | Bin 119760 -> 128576 bytes
 .../4_application_guide/services.doctree      | Bin 44843 -> 48017 bytes
 .../configuration/net_camera.doctree          | Bin 24581 -> 25137 bytes
 .../configuration/predefined_presets.doctree  | Bin 15069 -> 15611 bytes
 ...ti_camera_synced_verification_tool.doctree | Bin 20649 -> 21029 bytes
 .../6_benchmark/benchmark.doctree             | Bin 3393 -> 3319 bytes
 .../6_benchmark/benchmark_data.doctree        | Bin 5974 -> 0 bytes
 .../1_overview/introduction.md.txt            |   6 +-
 .../3_quickstarts/orbbecviewer.md.txt         |   2 +-
 .../launch_parameters.md.txt                  | 104 ++--
 .../4_application_guide/services.md.txt       |  18 +-
 .../configuration/net_camera.md.txt           |   2 +
 .../configuration/predefined_presets.md.txt   |   1 +
 ...lti_camera_synced_verification_tool.md.txt |   2 +-
 .../6_benchmark/benchmark.rst.txt             |   3 +-
 .../6_benchmark/benchmark_data.md.txt         |  16 -
 zh/_static/ros2_common_benchmark_data.xlsx    | Bin 24669 -> 0 bytes
 zh/_static/ros2_service_benchmark_cpp.xlsx    | Bin 23500 -> 0 bytes
 zh/_static/ros2_service_benchmark_python.xlsx | Bin 23481 -> 0 bytes
 zh/genindex.html                              |  19 +-
 zh/index.html                                 |  22 +-
 zh/objects.inv                                | Bin 5211 -> 5169 bytes
 zh/search.html                                |  19 +-
 zh/searchindex.js                             |   2 +-
 .../1_overview/introduction.html              |  25 +-
 .../1_overview/orbbecsdk_overview.html        |  19 +-
 .../camera_devices/1_overview/overview.html   |  19 +-
 .../2_installation/build_the_package.html     |  19 +-
 .../2_installation/installation.html          |  19 +-
 .../2_installation/registration_script.html   |  19 +-
 .../3_quickstarts/orbbecviewer.html           |  21 +-
 .../3_quickstarts/quickstart.html             |  19 +-
 .../3_quickstarts/quickstarts.html            |  19 +-
 .../application_guide.html                    |  19 +-
 .../4_application_guide/compressed_image.html |  19 +-
 .../coordinate_and_tf.html                    |  19 +-
 .../launch_parameters.html                    | 181 ++++---
 .../4_application_guide/point_cloud.html      |  19 +-
 .../4_application_guide/services.html         |  51 +-
 .../4_application_guide/topics.html           |  19 +-
 .../5_advanced_guide/advanced_guide.html      |  19 +-
 .../configuration/align_depth_color.html      |  19 +-
 ...guration_of_depth_NFOV_and_WFOV_modes.html |  19 +-
 .../configuration/depth_work_mode_switch.html |  19 +-
 .../disparity_search_offset.html              |  19 +-
 .../configuration/interleave_ae_mode.html     |  19 +-
 .../configuration/net_camera.html             |  25 +-
 .../configuration/predefined_presets.html     |  33 +-
 .../multi_camera/gmsl_camera.html             |  19 +-
 .../multi_camera/multi_camera.html            |  19 +-
 .../multi_camera/multi_camera_synced.html     |  19 +-
 ...multi_camera_synced_verification_tool.html |  22 +-
 ...efficient_intra_process_communication.html |  19 +-
 .../performance/fastdds_tuning.html           |  19 +-
 .../performance/lower_cpu_usage.html          |  19 +-
 .../camera_devices/6_benchmark/benchmark.html |  30 +-
 .../6_benchmark/benchmark_data.html           | 465 -----------------
 .../6_benchmark/benchmark_usage.html          |  23 +-
 .../6_benchmark/introduction.html             |  19 +-
 .../6_benchmark/othertools.html               |  39 +-
 .../building_a_Debian_Package.html            |  19 +-
 .../7_developer_guide/developer_guide.html    |  23 +-
 .../7_developer_guide/migration_guide.html    |  19 +-
 zh/source/camera_devices/8_FAQ/FAQ.html       |  19 +-
 zh/source/camera_devices/index.html           |  28 +-
 zh/source/license.html                        |  19 +-
 zh/source/lidar_devices/index.html            |  19 +-
 zh/source/lidar_devices/lidar.html            |  19 +-
 142 files changed, 1209 insertions(+), 2416 deletions(-)
 delete mode 100644 en/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree
 delete mode 100644 en/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt
 delete mode 100644 en/_static/ros2_common_benchmark_data.xlsx
 delete mode 100644 en/_static/ros2_service_benchmark_cpp.xlsx
 delete mode 100644 en/_static/ros2_service_benchmark_python.xlsx
 delete mode 100644 en/source/camera_devices/6_benchmark/benchmark_data.html
 delete mode 100644 zh/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree
 delete mode 100644 zh/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt
 delete mode 100644 zh/_static/ros2_common_benchmark_data.xlsx
 delete mode 100644 zh/_static/ros2_service_benchmark_cpp.xlsx
 delete mode 100644 zh/_static/ros2_service_benchmark_python.xlsx
 delete mode 100644 zh/source/camera_devices/6_benchmark/benchmark_data.html

diff --git a/en/.doctrees/environment.pickle b/en/.doctrees/environment.pickle
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diff --git a/en/.doctrees/source/camera_devices/1_overview/introduction.doctree b/en/.doctrees/source/camera_devices/1_overview/introduction.doctree
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diff --git a/en/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree b/en/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree
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delta 30
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diff --git a/en/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree b/en/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree
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diff --git a/en/.doctrees/source/camera_devices/4_application_guide/services.doctree b/en/.doctrees/source/camera_devices/4_application_guide/services.doctree
index f577a4677d8c2148d656c8c91c0b37edeaca773a..e489947ad85c78e8a0cf75cc51274c55343fdcf4 100644
GIT binary patch
delta 4737
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delta 2342
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diff --git a/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree
index 4f54b337b37a5cf421faf1fcafff6c9618b7d76c..78ef645da55ed76ba8543cab57c026a8d6952645 100644
GIT binary patch
delta 2016
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delta 1532
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diff --git a/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree
index 8c12eeac52d40938d06ecd0db6149811e12adf7d..26cbed3186383ed181cbe7538722f0f2ca74adfd 100644
GIT binary patch
delta 1146
zcma)*|4S2b7{~YVb~!hr84ad2xCJ{mn@P6NauB3Jv=BjvKw_P8>v7(^>Fx@t;R+&-
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delta 768
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diff --git a/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree
index 4f726c7a2ccb354f2d2c19ac02a07f34200d129e..043fce1adb79916f2e1873e8637579619ba05a61 100644
GIT binary patch
delta 2854
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delta 2568
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diff --git a/en/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree b/en/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree
index 347ebb308e48d50c8f58aeb44ec88e9debd454bd..27adabc19bcc00588ff2f7d98bf203086a48eaa8 100644
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diff --git a/en/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree b/en/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree
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diff --git a/en/_sources/source/camera_devices/1_overview/introduction.md.txt b/en/_sources/source/camera_devices/1_overview/introduction.md.txt
index b56ed7e7..a1beeb6d 100644
--- a/en/_sources/source/camera_devices/1_overview/introduction.md.txt
+++ b/en/_sources/source/camera_devices/1_overview/introduction.md.txt
@@ -189,12 +189,12 @@ To learn how to obtain and upgrade the latest firmware, [please click here](../3
 | Gemini 210              | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware)               | gemini210.launch.py         |
 | Gemini 2                | [1.4.98](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware)                | gemini2.launch.py           |
 | Gemini 2 L              | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware)                | gemini2L.launch.py          |
-| Femto Bolt              | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware)              | femto_bolt.launch.py        |
+| Femto Bolt              | [1.1.3](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware)              | femto_bolt.launch.py        |
 | Femto Mega              | [1.3.1](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware)              | femto_mega.launch.py        |
 | Femto Mega I            | [2.0.4](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware)            | femto_mega.launch.py        |
 | Astra 2                 | [2.8.20](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip)    | astra2.launch.py            |
-| Gemini 345            | 1.7.12 | gemini345.launch.py |
-| Gemini 345Lg            | 1.7.12 | gemini345_lg.launch.py |
+| Gemini 345            | 1.9.03 | gemini345.launch.py |
+| Gemini 345Lg            | 1.9.03 | gemini345_lg.launch.py |
 | Pulsar SL450            | 2.2.4.5 | lidar.launch.py |
 | Pulsar ME450            | 1.0.0.6 | lidar.launch.py |
 
diff --git a/en/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt b/en/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt
index 3653d511..a915bfa8 100644
--- a/en/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt
+++ b/en/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt
@@ -34,7 +34,7 @@ Please refer to the list below for the latest camera firmware. [For more informa
 
 | **Products list** | **Download link**                                                                           | Latest version |
 | ----------------------- | ------------------------------------------------------------------------------------------------- | -------------- |
-| Femto Bolt              | [Femto Bolt Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware)     | v1.1.2         |
+| Femto Bolt              | [Femto Bolt Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware)     | v1.1.3         |
 | Femto Mega              | [Femto Mega Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware)     | v1.3.1         |
 | Gemini 2                | [Gemini 2 Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware)          | v1.4.98        |
 | Gemini 2 L              | [Gemini 2L Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware)        | v1.5.02        |
diff --git a/en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt b/en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
index 30861797..240ec27f 100644
--- a/en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
+++ b/en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
@@ -38,16 +38,21 @@ The following are the launch parameters available:
     *   Enable filtering of invalid point clouds.
 *   **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`**
     *   ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA`, respectively.
-*   **`color.image_raw.enable_pub_plugins`**
-    *   Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
-*   **`depth.image_raw.enable_pub_plugins`**
-    *   Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`.
-*   **`left_ir.image_raw.enable_pub_plugins`**
-    *   Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
-*   **`right_ir.image_raw.enable_pub_plugins`**
-    *   Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
-*   **`point_cloud_decimation_filter_factor`**
-    *   Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
+* **`color.image_raw.enable_pub_plugins`**
+  * Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
+* **`depth.image_raw.enable_pub_plugins`**
+  * Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`.
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
+* **`left_ir.image_raw.enable_pub_plugins`**
+  * Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
+* **`right_ir.image_raw.enable_pub_plugins`**
+  * Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
+* **`point_cloud_decimation_filter_factor`**
+  * Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
 
 ### Sensor Controls
 
@@ -81,12 +86,11 @@ The following are the launch parameters available:
 
 
 #### Depth Stream
-*   **`enable_depth_auto_exposure_priority`**
-
-    *   Enable the Depth auto exposure priority.
-*   **`mean_intensity_set_point`**
-    *   Set the target average intensity of the depth image when auto-exposure is turned on. For example: `mean_intensity_set_point:=100`.
-    > **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
+* **`enable_depth_auto_exposure_priority`**
+  * Enable the Depth auto exposure priority.
+* **`mean_intensity_set_point`**
+  * Set the target average intensity of the depth image when auto-exposure is turned on. For example: `mean_intensity_set_point:=100`.
+    > **Note:** In wrapper version 2.4.7 and later, this parameter replaces the deprecated `depth_brightness`, but `depth_brightness` will still be supported for backward compatibility.
 *   **`enable_depth_scale`**
     *   Whether to enable depth scaling after setting D2C. `true` means enabled, the default is `true`.
 *   **`depth_precision`**
@@ -132,51 +136,56 @@ The following are the launch parameters available:
 > Used for [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md).
 
 #### Network Cameras
-*   **`enumerate_net_device`**
-    *   Enable automatically enumerate network devices.
-*   **`net_device_ip`** / **`net_device_port`**
-    *   Set net device's IP address and port (Usually `8090`).
-*   **`force_ip_enable`**
-    *   Enable the Force IP function. **Default:** `false`
-
-*   **`force_ip_mac`**
-    *   Target device MAC address when multiple cameras are connected (e.g., `"54:14:FD:06:07:DA"`). You can use the `list_devices_node` to find the MAC of each device. **Default:** `""`
-
-*   **`force_ip_address`**
-    *   Static IP address to assign. **Default:** `192.168.1.10`
-
-*   **`force_ip_subnet_mask`**
-    *   Subnet mask for the static IP. **Default:** `255.255.255.0`
-
-*   **`force_ip_gateway`**
-    *   Gateway address for the static IP. **Default:** `192.168.1.1`
-
+* **`enumerate_net_device`**
+  * Enable automatically enumerate network devices.
+* **`net_device_ip`** / **`net_device_port`**
+  * Set net device's IP address and port (Usually `8090`).
+* **`force_ip_enable`**
+  * Enable the Force IP function. **Default:** `false`
+    > **Supported Versions**: Wrapper version 2.5.4 and above.
+* **`force_ip_mac`**
+  * Target device MAC address when multiple cameras are connected (e.g., `"54:14:FD:06:07:DA"`). You can use the `list_devices_node` to find the MAC of each device. **Default:** `""`
+    > **Supported Versions**: Wrapper version 2.5.4 and above.
+* **`force_ip_address`**
+  * Static IP address to assign. **Default:** `192.168.1.10`
+    > **Supported Versions**: Wrapper version 2.5.4 and above.
+* **`force_ip_subnet_mask`**
+  * Subnet mask for the static IP. **Default:** `255.255.255.0`
+    > **Supported Versions**: Wrapper version 2.5.4 and above.
+* **`force_ip_gateway`**
+  * Gateway address for the static IP. **Default:** `192.168.1.1`
+    > **Supported Versions**: Wrapper version 2.5.4 and above.
 > Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
 
 #### Device-Specific
-*   **`preset_resolution_config`**
-    * Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Leave empty to disable.
-    > Only supported 435Le.
-    >
-*   **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
-    *   Enable the gmsl trigger out signal / set gmsl trigger fps.
+* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
+  * Enable the gmsl trigger out signal / set gmsl trigger fps.
     > Only supports [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
     >
+* **`enable_ptp_config`**
+  * Enable PTP time synchronization. Requires `enable_sync_host_time` to be `false`.
+    > **Supported Modules**: Gemini 335Le
+    > **Supported Versions**: Wrapper version 2.3.4 and above.
+* **`preset_resolution_config`**
+  * Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Leave empty to disable.
+    > **Supported Modules**: Gemini 435Le
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
 * **`ae_mode`**
-  * `colorbased`: Automatic exposure based on color flow. `depthbased`: Automatic exposure based on depth flow. **默认值：** `depthbased`
-    > Only supports Gemini 305.
-    >
+  * `colorbased`: Automatic exposure based on color flow. `depthbased`: Automatic exposure based on depth flow. **Default:** `depthbased`
+    > **Supported Modules**: Gemini 305
+    > **Supported Versions**: Wrapper version 2.7.2 and above.
 * **`enalbe_sports_mode`**
   * Whether to enable sports mode. **Default:** `false`
-    > Only supports Gemini 305.
-    >
+    > **Supported Modules**: Gemini 305
+    > **Supported Versions**: Wrapper version 2.7.2 and above.
 * **`depth_downscale`** / **`left_ir_downscale`** /**`right_ir_downscale`**
   * Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`
-    > Only supports Gemini 305.
-    >
-*   **`enable_ptp_config`**
-    *   Enable PTP time synchronization. Only for Gemini 335Le. Requires `enable_sync_host_time` to be `false`.
-
+    > **Supported Modules**: Gemini 305
+    > **Supported Versions**: Wrapper version 2.7.2 and above.
+* **`enable_false_positive_filter`**
+  * Enable this option to reduce ghosting noise.
+    > **Supported Modules**: DaBaiA / DaBaiAL / Gemini345 / Gemini345Lg
+    > **Supported Versions**: Wrapper version 2.7.6 and above; Firmware version 1.9.03 and above.
 #### Disparity
 *   **`disparity_to_depth_mode`**
     *   `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion.
@@ -205,20 +214,21 @@ The following are the launch parameters available:
   *   `DEPTH`: Align color to depth.
 - **`intra_camera_sync_reference`**
   - Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle.
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
 
 ### Basic & General Parameters
 
 #### Firmware & Backend
-*   **`upgrade_firmware`**
-    *   The input parameter is the firmware path.
-*   **`preset_firmware_path`**
-    *   The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by `,` and a maximum of 3 firmware paths can be input.
-*   **`uvc_backend`**
-    *   Optional values: `v4l2`, `libuvc`.
-*   **`connection_delay`**
-    *   The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging.
-*   **`retry_on_usb3_detection_failure`**
-    *   If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets.
+* **`upgrade_firmware`**
+  * The input parameter is the firmware path.
+* **`preset_firmware_path`**
+  * The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by `,` and a maximum of 3 firmware paths can be input.
+* **`uvc_backend`**
+  * Optional values: `v4l2`, `libuvc`.
+* **`connection_delay`**
+  * The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging.
+* **`retry_on_usb3_detection_failure`**
+  * If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets.
 
 #### TF, Extrinsics & Calibration
 *   **`publish_tf`** / **`tf_publish_rate`**
@@ -231,26 +241,28 @@ The following are the launch parameters available:
     *   Enable the Color undistortion.
 
 #### Time Synchronization
-*   **`enable_sync_host_time`**
-    *   Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`.
-*   **`time_domain`**
-    *   Select timestamp type: `device`, `global`, and `system`.
-*   **`time_sync_period`**
+* **`enable_sync_host_time`**
+  * Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`.
+* **`time_domain`**
+  * Select timestamp type: `device`, `global`, and `system`.
+* **`time_sync_period`**
+  * Interval (in seconds) for synchronizing the camera time with the host system.
+    > **Note**: This parameter only needs to be set when `enable_sync_host_time = true` and `time_domain = device`.
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
 
-    *   Interval (in seconds) for synchronizing the camera time with the host system.
-    > **Note**: This parameter only needs to be set when **`enable_sync_host_time = true`** and **`time_domain = device`**.
-*   **`enable_frame_sync`**
-    *   Enable the frame synchronization.
+* **`enable_frame_sync`**
+  * Enable the frame synchronization.
 
 #### Logging & Diagnostics
-*   **`log_level`**
-    *   SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`.
+* **`log_level`**
+  * SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`.
 * **`log_file_name`**
-    * Saved SDK log file name. Effective when `log_level` is `debug`.
-*   **`diagnostic_period`**
-    *   Diagnostic period in seconds.
-*   **`enable_heartbeat`**
-    *   Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware.
+  * Saved SDK log file name. Effective when `log_level` is `debug`.
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
+* **`diagnostic_period`**
+  * Diagnostic period in seconds.
+* **`enable_heartbeat`**
+  * Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware.
 
 #### Miscellaneous
 *   **`config_file_path`**
diff --git a/en/_sources/source/camera_devices/4_application_guide/services.md.txt b/en/_sources/source/camera_devices/4_application_guide/services.md.txt
index a0d12138..7832424e 100644
--- a/en/_sources/source/camera_devices/4_application_guide/services.md.txt
+++ b/en/_sources/source/camera_devices/4_application_guide/services.md.txt
@@ -124,10 +124,11 @@
     ```bash
     ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
     ```
-    `/camera/get_laser_status`
+*   `/camera/get_laser_status`
     ```bash
     ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'
     ```
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
 *   `/camera/set_ldp_enable` & `/camera/get_ldp_status`
     ```bash
     ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
@@ -231,13 +232,13 @@
 
 #### Device-Specific
 
-**Gemini 435Le**
-
 *   `/camera/write_customer_data` & `/camera/read_customer_data`
     ```bash
     ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
     ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'
     ```
+    > **Supported Modules**: Gemini 435Le
+    > **Supported Versions**: Wrapper version 2.5.4 and above.
 *   `/camera/set_user_calib_params` & `/camera/get_user_calib_params`
     ```bash
     ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
@@ -258,25 +259,30 @@
                     -6.804073229432106e-06]}'
     ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
     ```
+    > **Supported Modules**: Gemini 435Le
+    > **Supported Versions**: Wrapper version 2.5.4 and above.
 
-**Gemini 305**
 *   `/camera/set_ae_mode`
     ```bash
       # depthbased or colorbased
       ros2 service call /camera/set_ae_mode orbbec_camera_msgs/srv/SetString "data: depthbased"
     ```
-
+    > **Supported Modules**: Gemini 305
+    > **Supported Versions**: Wrapper version 2.7.2 and above.
 *   `/camera/set_sports_mode`
     ```bash
       ros2 service call /camera/set_sports_mode std_srvs/srv/SetBool "data: true"
     ```
-
+    > **Supported Modules**: Gemini 305
+    > **Supported Versions**: Wrapper version 2.7.2 and above.
 ### Point cloud decimation
 *   `/camera/set_point_cloud_decimation`
     ```bash
     ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}'
     ```
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
 *   `/camera/get_point_cloud_decimation`
     ```bash
     ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}'
     ```
+    > **Supported Versions**: Wrapper version 2.6.3 and above.
diff --git a/en/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt
index af9497b0..bbf4c5d4 100644
--- a/en/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt
+++ b/en/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt
@@ -49,6 +49,7 @@ ros2 launch orbbec_camera multi_net_camera.launch.py
 The **`set_device_ip`** executable allows you to configure the IP settings of a network camera directly from ROS 2, including switching between DHCP and static IP, and setting subnet mask and gateway. This is useful for quickly assigning or updating IP addresses without modifying launch files.
 
 > **Note:** The IP settings applied with `set_device_ip` are **permanent** and **will not be reset** if the device is powered off or restarted.
+> **Supported Versions**: Wrapper version 2.6.3 and above.
 
 **Example Usage**
 
@@ -74,6 +75,7 @@ ros2 run orbbec_camera set_device_ip --ros-args \
 The **Force IP** feature allows you to assign a **static IP address** to a network camera, overriding DHCP settings. This is useful when multiple network cameras are connected, and you need each device to have a fixed IP for reliable communication.
 
 > **Note:** The Force IP configuration **will be reset if the device is powered off or restarted**. You need to reapply the settings after reboot.
+> **Supported Versions**: Wrapper version 2.6.3 and above.
 
 **Parameters**
 
diff --git a/en/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt
index 2739f552..3c4bdfe1 100644
--- a/en/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt
+++ b/en/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt
@@ -47,6 +47,7 @@ This document lists available presets, features, and recommended scenarios by pr
 | Close Range High Accuracy | Adjustable larger parallax search range, Mini-Z reduction<br> The rest of the performance remains consistent with High Accuracy |
 | Dual Color Streams | Supports left and right color streams at the same time, no depth IR information<br> The left and right output effects are consistent |
 | Custom | Custom modifications, such as new configurations of post-processing pipelines and modifications to deep AE functions |
+
 > Since the parameter configuration of `Dual Color Streams` mode is quite different from that of `Default` mode, we provide the corresponding YAML configuration file.
 Please set `config_file_path` to `gemini305_dual_color.yaml`, the configuration file is located in the config directory.
 
diff --git a/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt
index b0a996a7..983123d1 100644
--- a/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt
+++ b/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt
@@ -4,6 +4,7 @@
 
 This example node is designed for **synchronized capture and timestamp verification** across **four Orbbec cameras**.
 It can be used to validate frame alignment accuracy under the multi-camera **Primary / Secondary Synced** mode.
+> **Supported Versions**: Wrapper version 2.6.3 and above.
 
 ---
 
diff --git a/en/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt b/en/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt
index 286bec7e..a7a3f2ba 100644
--- a/en/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt
+++ b/en/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt
@@ -1,12 +1,11 @@
 Benchmark
 ======================================================
 
-This chapter introduces how to use the benchmark tool and provides test results for different cameras.
+This chapter introduces how to use the benchmark tool to test the performance of different cameras.
 
 .. toctree::
     :maxdepth: 2
 
     introduction.md
     benchmark_usage.md
-    benchmark_data.md
     othertools.md
\ No newline at end of file
diff --git a/en/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt b/en/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt
deleted file mode 100644
index 0cadeed1..00000000
--- a/en/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt
+++ /dev/null
@@ -1,19 +0,0 @@
-# Benchmark Data
-
-This section records the data of using the benchmark tool to test different cameras. Click the link to download the xlsx data.
-
-
-## Common Benckmark Data
-
-Use the default launch file to run the `common_benchmark_node` and test for 1 hour of data.
-
-- [Common Benchmark Data](../../_static/ros2_common_benchmark_data.xlsx)
-
-
-## Service Benchmark Data
-
-Use the default launch file to run the `service_benchmark_node` and `service_benchmark_node.py` separately. Each service is called 10 times, and the data is recorded.
-
-- [Service Benchmark Data cpp](../../_static/ros2_service_benchmark_cpp.xlsx)
-- [Service Benchmark Data python](../../_static/ros2_service_benchmark_python.xlsx)
-
diff --git a/en/_static/ros2_common_benchmark_data.xlsx b/en/_static/ros2_common_benchmark_data.xlsx
deleted file mode 100644
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-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
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diff --git a/en/search.html b/en/search.html
index ca5dc06d..f2468446 100644
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+++ b/en/search.html
@@ -295,17 +295,12 @@
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+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
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 </li>
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@@ -431,7 +426,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
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diff --git a/en/source/camera_devices/1_overview/introduction.html b/en/source/camera_devices/1_overview/introduction.html
index 705fcfa6..2932a31a 100644
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 </ul>
 </li>
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-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
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diff --git a/en/source/camera_devices/1_overview/orbbecsdk_overview.html b/en/source/camera_devices/1_overview/orbbecsdk_overview.html
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-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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diff --git a/en/source/camera_devices/1_overview/overview.html b/en/source/camera_devices/1_overview/overview.html
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
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-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
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diff --git a/en/source/camera_devices/3_quickstarts/orbbecviewer.html b/en/source/camera_devices/3_quickstarts/orbbecviewer.html
index 42fa9089..260382ff 100644
--- a/en/source/camera_devices/3_quickstarts/orbbecviewer.html
+++ b/en/source/camera_devices/3_quickstarts/orbbecviewer.html
@@ -295,17 +295,12 @@
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
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 <td>Femto Bolt</td>
 <td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware">Femto Bolt Firmware</a></td>
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-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
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diff --git a/en/source/camera_devices/3_quickstarts/quickstart.html b/en/source/camera_devices/3_quickstarts/quickstart.html
index fe8a9d94..ed44a638 100644
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
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     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
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diff --git a/en/source/camera_devices/3_quickstarts/quickstarts.html b/en/source/camera_devices/3_quickstarts/quickstarts.html
index a06bed46..877cfae3 100644
--- a/en/source/camera_devices/3_quickstarts/quickstarts.html
+++ b/en/source/camera_devices/3_quickstarts/quickstarts.html
@@ -295,17 +295,12 @@
 </li>
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
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-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
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diff --git a/en/source/camera_devices/4_application_guide/application_guide.html b/en/source/camera_devices/4_application_guide/application_guide.html
index 716ebf1b..cd605843 100644
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
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+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
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-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
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diff --git a/en/source/camera_devices/4_application_guide/coordinate_and_tf.html b/en/source/camera_devices/4_application_guide/coordinate_and_tf.html
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--- a/en/source/camera_devices/4_application_guide/coordinate_and_tf.html
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@@ -295,17 +295,12 @@
 </li>
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
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   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
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diff --git a/en/source/camera_devices/4_application_guide/launch_parameters.html b/en/source/camera_devices/4_application_guide/launch_parameters.html
index 33589db1..785ab687 100644
--- a/en/source/camera_devices/4_application_guide/launch_parameters.html
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 </li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -497,28 +492,48 @@
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">color.image_raw.enable_pub_plugins</span></code></strong></p>
-<ul class="simple">
-<li><p>Enable Color image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p></li>
+<ul>
+<li><p>Enable Color image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">depth.image_raw.enable_pub_plugins</span></code></strong></p>
-<ul class="simple">
-<li><p>Enable Depth image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressedDepth&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;]</span></code>.</p></li>
+<ul>
+<li><p>Enable Depth image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressedDepth&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;]</span></code>.</p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">left_ir.image_raw.enable_pub_plugins</span></code></strong></p>
-<ul class="simple">
-<li><p>Enable Left IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p></li>
+<ul>
+<li><p>Enable Left IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">right_ir.image_raw.enable_pub_plugins</span></code></strong></p>
-<ul class="simple">
-<li><p>Enable Right IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p></li>
+<ul>
+<li><p>Enable Right IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_decimation_filter_factor</span></code></strong></p>
-<ul class="simple">
-<li><p>Point cloud downsampling factor. Range: <code class="docutils literal notranslate"><span class="pre">1–8</span></code>. <code class="docutils literal notranslate"><span class="pre">1</span></code> means no downsampling.</p></li>
+<ul>
+<li><p>Point cloud downsampling factor. Range: <code class="docutils literal notranslate"><span class="pre">1–8</span></code>. <code class="docutils literal notranslate"><span class="pre">1</span></code> means no downsampling.</p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 </ul>
@@ -604,13 +619,14 @@
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point</span></code></strong></p>
-<ul class="simple">
-<li><p>Set the target average intensity of the depth image when auto-exposure is turned on. For example: <code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>.</p></li>
-</ul>
+<ul>
+<li><p>Set the target average intensity of the depth image when auto-exposure is turned on. For example: <code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>.</p>
 <blockquote>
-<div><p><strong>Note:</strong> This replaces the deprecated <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>, which is still supported for backward compatibility.</p>
+<div><p><strong>Note:</strong> In wrapper version 2.4.7 and later, this parameter replaces the deprecated <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>, but <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code> will still be supported for backward compatibility.</p>
 </div></blockquote>
 </li>
+</ul>
+</li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_scale</span></code></strong></p>
 <ul class="simple">
 <li><p>Whether to enable depth scaling after setting D2C. <code class="docutils literal notranslate"><span class="pre">true</span></code> means enabled, the default is <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p></li>
@@ -721,40 +737,60 @@
 </section>
 <section id="network-cameras">
 <h3><span class="section-number">4.1.3.2. </span>Network Cameras<a class="headerlink" href="#network-cameras" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
 <ul>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
+<ul class="simple">
 <li><p>Enable automatically enumerate network devices.</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code></strong></p>
-<ul>
+<ul class="simple">
 <li><p>Set net device’s IP address and port (Usually <code class="docutils literal notranslate"><span class="pre">8090</span></code>).</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_enable</span></code></strong></p>
 <ul>
-<li><p>Enable the Force IP function. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p></li>
+<li><p>Enable the Force IP function. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.5.4 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_mac</span></code></strong></p>
 <ul>
-<li><p>Target device MAC address when multiple cameras are connected (e.g., <code class="docutils literal notranslate"><span class="pre">&quot;54:14:FD:06:07:DA&quot;</span></code>). You can use the <code class="docutils literal notranslate"><span class="pre">list_devices_node</span></code> to find the MAC of each device. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">&quot;&quot;</span></code></p></li>
+<li><p>Target device MAC address when multiple cameras are connected (e.g., <code class="docutils literal notranslate"><span class="pre">&quot;54:14:FD:06:07:DA&quot;</span></code>). You can use the <code class="docutils literal notranslate"><span class="pre">list_devices_node</span></code> to find the MAC of each device. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">&quot;&quot;</span></code></p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.5.4 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_address</span></code></strong></p>
 <ul>
-<li><p>Static IP address to assign. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.10</span></code></p></li>
+<li><p>Static IP address to assign. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.10</span></code></p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.5.4 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_subnet_mask</span></code></strong></p>
 <ul>
-<li><p>Subnet mask for the static IP. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">255.255.255.0</span></code></p></li>
+<li><p>Subnet mask for the static IP. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">255.255.255.0</span></code></p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.5.4 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_gateway</span></code></strong></p>
 <ul>
-<li><p>Gateway address for the static IP. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.1</span></code></p></li>
+<li><p>Gateway address for the static IP. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.1</span></code></p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.5.4 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 </ul>
@@ -765,27 +801,41 @@
 <section id="device-specific">
 <h3><span class="section-number">4.1.3.3. </span>Device-Specific<a class="headerlink" href="#device-specific" title="Link to this heading"></a></h3>
 <ul>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
-<ul class="simple">
-<li><p>Preset resolution configuration for the camera device. Format: “width,height,ir_decimation_factor,depth_decimation_factor”. Example: “1280,720,4,4”. Leave empty to disable.</p></li>
-</ul>
-<blockquote>
-<div><p>Only supported 435Le.</p>
-</div></blockquote>
-</li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code></strong></p>
-<ul class="simple">
-<li><p>Enable the gmsl trigger out signal / set gmsl trigger fps.</p></li>
-</ul>
+<ul>
+<li><p>Enable the gmsl trigger out signal / set gmsl trigger fps.</p>
 <blockquote>
 <div><p>Only supports <a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html"><span class="doc">gmsl camera</span></a>.</p>
 </div></blockquote>
 </li>
+</ul>
+</li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
+<ul>
+<li><p>Enable PTP time synchronization. Requires <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> to be <code class="docutils literal notranslate"><span class="pre">false</span></code>.</p>
+<blockquote>
+<div><p><strong>Supported Modules</strong>: Gemini 335Le
+<strong>Supported Versions</strong>: Wrapper version 2.3.4 and above.</p>
+</div></blockquote>
+</li>
+</ul>
+</li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
+<ul>
+<li><p>Preset resolution configuration for the camera device. Format: “width,height,ir_decimation_factor,depth_decimation_factor”. Example: “1280,720,4,4”. Leave empty to disable.</p>
+<blockquote>
+<div><p><strong>Supported Modules</strong>: Gemini 435Le
+<strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
+</li>
+</ul>
+</li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">ae_mode</span></code></strong></p>
 <ul>
-<li><p><code class="docutils literal notranslate"><span class="pre">colorbased</span></code>: Automatic exposure based on color flow. <code class="docutils literal notranslate"><span class="pre">depthbased</span></code>: Automatic exposure based on depth flow. <strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">depthbased</span></code></p>
+<li><p><code class="docutils literal notranslate"><span class="pre">colorbased</span></code>: Automatic exposure based on color flow. <code class="docutils literal notranslate"><span class="pre">depthbased</span></code>: Automatic exposure based on depth flow. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">depthbased</span></code></p>
 <blockquote>
-<div><p>Only supports Gemini 305.</p>
+<div><p><strong>Supported Modules</strong>: Gemini 305
+<strong>Supported Versions</strong>: Wrapper version 2.7.2 and above.</p>
 </div></blockquote>
 </li>
 </ul>
@@ -794,7 +844,8 @@
 <ul>
 <li><p>Whether to enable sports mode. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p>
 <blockquote>
-<div><p>Only supports Gemini 305.</p>
+<div><p><strong>Supported Modules</strong>: Gemini 305
+<strong>Supported Versions</strong>: Wrapper version 2.7.2 and above.</p>
 </div></blockquote>
 </li>
 </ul>
@@ -803,14 +854,20 @@
 <ul>
 <li><p>Set the downsampling multiple. You can use <code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">list_camera_profile_mode_node</span></code> to view the settable resolution. <strong>Default value:</strong> <code class="docutils literal notranslate"><span class="pre">1</span></code></p>
 <blockquote>
-<div><p>Only supports Gemini 305.</p>
+<div><p><strong>Supported Modules</strong>: Gemini 305
+<strong>Supported Versions</strong>: Wrapper version 2.7.2 and above.</p>
 </div></blockquote>
 </li>
 </ul>
 </li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
-<ul class="simple">
-<li><p>Enable PTP time synchronization. Only for Gemini 335Le. Requires <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> to be <code class="docutils literal notranslate"><span class="pre">false</span></code>.</p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_false_positive_filter</span></code></strong></p>
+<ul>
+<li><p>Enable this option to reduce ghosting noise.</p>
+<blockquote>
+<div><p><strong>Supported Modules</strong>: DaBaiA / DaBaiAL / Gemini345 / Gemini345Lg
+<strong>Supported Versions</strong>: Wrapper version 2.7.6 and above; Firmware version 1.9.03 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 </ul>
@@ -853,19 +910,19 @@
 </section>
 <section id="intra-camera-synchronization">
 <h3><span class="section-number">4.1.3.6. </span>Intra-Camera Synchronization<a class="headerlink" href="#intra-camera-synchronization" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_registration</span></code></strong></p>
 <ul>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_registration</span></code></strong></p>
+<ul class="simple">
 <li><p>Enable alignment of the depth frame to the color frame. This field is required when the <code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code> is set to <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">align_mode</span></code></strong></p>
-<ul>
+<ul class="simple">
 <li><p>The alignment mode to be used. Options are <code class="docutils literal notranslate"><span class="pre">HW</span></code> for hardware alignment and <code class="docutils literal notranslate"><span class="pre">SW</span></code> for software alignment.</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">align_target_stream</span></code></strong></p>
-<ul>
+<ul class="simple">
 <li><p>Set align target stream mode.</p></li>
 <li><p>The possible values are <code class="docutils literal notranslate"><span class="pre">COLOR</span></code>, <code class="docutils literal notranslate"><span class="pre">DEPTH</span></code>.</p></li>
 <li><p><code class="docutils literal notranslate"><span class="pre">COLOR</span></code>: Align depth to color.</p></li>
@@ -874,7 +931,11 @@
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">intra_camera_sync_reference</span></code></strong></p>
 <ul>
-<li><p>Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> is set to <strong>software</strong> or <strong>hardware trigger</strong> mode. <strong>Options:</strong> <code class="docutils literal notranslate"><span class="pre">Start</span></code>, <code class="docutils literal notranslate"><span class="pre">Middle</span></code>, <code class="docutils literal notranslate"><span class="pre">End</span></code>. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle.</p></li>
+<li><p>Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> is set to <strong>software</strong> or <strong>hardware trigger</strong> mode. <strong>Options:</strong> <code class="docutils literal notranslate"><span class="pre">Start</span></code>, <code class="docutils literal notranslate"><span class="pre">Middle</span></code>, <code class="docutils literal notranslate"><span class="pre">End</span></code>. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle.</p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 </ul>
@@ -951,13 +1012,15 @@
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">time_sync_period</span></code></strong></p>
-<ul class="simple">
-<li><p>Interval (in seconds) for synchronizing the camera time with the host system.</p></li>
-</ul>
+<ul>
+<li><p>Interval (in seconds) for synchronizing the camera time with the host system.</p>
 <blockquote>
-<div><p><strong>Note</strong>: This parameter only needs to be set when <strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span> <span class="pre">=</span> <span class="pre">true</span></code></strong> and <strong><code class="docutils literal notranslate"><span class="pre">time_domain</span> <span class="pre">=</span> <span class="pre">device</span></code></strong>.</p>
+<div><p><strong>Note</strong>: This parameter only needs to be set when <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span> <span class="pre">=</span> <span class="pre">true</span></code> and <code class="docutils literal notranslate"><span class="pre">time_domain</span> <span class="pre">=</span> <span class="pre">device</span></code>.
+<strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
 </div></blockquote>
 </li>
+</ul>
+</li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_frame_sync</span></code></strong></p>
 <ul class="simple">
 <li><p>Enable the frame synchronization.</p></li>
@@ -967,24 +1030,28 @@
 </section>
 <section id="logging-diagnostics">
 <h3><span class="section-number">4.1.4.4. </span>Logging &amp; Diagnostics<a class="headerlink" href="#logging-diagnostics" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
 <ul>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
+<ul class="simple">
 <li><p>SDK log level. Default is <code class="docutils literal notranslate"><span class="pre">info</span></code>. Optional values: <code class="docutils literal notranslate"><span class="pre">debug</span></code>, <code class="docutils literal notranslate"><span class="pre">info</span></code>, <code class="docutils literal notranslate"><span class="pre">warn</span></code>, <code class="docutils literal notranslate"><span class="pre">error</span></code>, <code class="docutils literal notranslate"><span class="pre">fatal</span></code>.</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">log_file_name</span></code></strong></p>
 <ul>
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+<li><p>Saved SDK log file name. Effective when <code class="docutils literal notranslate"><span class="pre">log_level</span></code> is <code class="docutils literal notranslate"><span class="pre">debug</span></code>.</p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">diagnostic_period</span></code></strong></p>
-<ul>
+<ul class="simple">
 <li><p>Diagnostic period in seconds.</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_heartbeat</span></code></strong></p>
-<ul>
+<ul class="simple">
 <li><p>Enable the heartbeat function. Default is <code class="docutils literal notranslate"><span class="pre">false</span></code>. If <code class="docutils literal notranslate"><span class="pre">true</span></code>, the camera node will send heartbeat signals to the firmware.</p></li>
 </ul>
 </li>
@@ -1124,7 +1191,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/4_application_guide/point_cloud.html b/en/source/camera_devices/4_application_guide/point_cloud.html
index 2c1602d6..eb3b2c9b 100644
--- a/en/source/camera_devices/4_application_guide/point_cloud.html
+++ b/en/source/camera_devices/4_application_guide/point_cloud.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -480,7 +475,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/4_application_guide/services.html b/en/source/camera_devices/4_application_guide/services.html
index 7e4ef1d7..56711f2e 100644
--- a/en/source/camera_devices/4_application_guide/services.html
+++ b/en/source/camera_devices/4_application_guide/services.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -575,10 +570,14 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_laser_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
 </pre></div>
 </div>
-<p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_laser_status<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
 </li>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ldp_enable</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_ldp_status</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ldp_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -706,13 +705,16 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </ul>
 <section id="device-specific">
 <h3><span class="section-number">4.2.6.1. </span>Device-Specific<a class="headerlink" href="#device-specific" title="Link to this heading"></a></h3>
-<p><strong>Gemini 435Le</strong></p>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/write_customer_data</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/read_customer_data</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/write_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">&#39;{data: &quot;string&quot;}&#39;</span>
 ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/read_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/GetString<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>Supported Modules</strong>: Gemini 435Le
+<strong>Supported Versions</strong>: Wrapper version 2.5.4 and above.</p>
+</div></blockquote>
 </li>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_user_calib_params</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_user_calib_params</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/SetUserCalibParams<span class="w"> </span><span class="se">\</span>
@@ -734,20 +736,29 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/GetUserCalibParams<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>Supported Modules</strong>: Gemini 435Le
+<strong>Supported Versions</strong>: Wrapper version 2.5.4 and above.</p>
+</div></blockquote>
 </li>
-</ul>
-<p><strong>Gemini 305</strong></p>
-<ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ae_mode</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="c1"># depthbased or colorbased</span>
 <span class="w">  </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ae_mode<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s2">&quot;data: depthbased&quot;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>Supported Modules</strong>: Gemini 305
+<strong>Supported Versions</strong>: Wrapper version 2.7.2 and above.</p>
+</div></blockquote>
 </li>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_sports_mode</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w">  </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_sports_mode<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s2">&quot;data: true&quot;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>Supported Modules</strong>: Gemini 305
+<strong>Supported Versions</strong>: Wrapper version 2.7.2 and above.</p>
+</div></blockquote>
 </li>
 </ul>
 </section>
@@ -759,11 +770,17 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 8}&#39;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
 </li>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_point_cloud_decimation</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
 </li>
 </ul>
 </section>
@@ -781,7 +798,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/4_application_guide/topics.html b/en/source/camera_devices/4_application_guide/topics.html
index 701d84f6..b65fbf69 100644
--- a/en/source/camera_devices/4_application_guide/topics.html
+++ b/en/source/camera_devices/4_application_guide/topics.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -545,7 +540,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/advanced_guide.html b/en/source/camera_devices/5_advanced_guide/advanced_guide.html
index 88c079a4..b84af32f 100644
--- a/en/source/camera_devices/5_advanced_guide/advanced_guide.html
+++ b/en/source/camera_devices/5_advanced_guide/advanced_guide.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -528,7 +523,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html b/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
index 6f26d010..42855dc3 100644
--- a/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
+++ b/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -464,7 +459,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html b/en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
index 46fce3f0..1594ec28 100644
--- a/en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
+++ b/en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -441,7 +436,7 @@ resolutions is as follows:</p>
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html b/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html
index 81078cdd..63bfa77f 100644
--- a/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html
+++ b/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -458,7 +453,7 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html b/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
index c6fb766c..e6a50574 100644
--- a/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
+++ b/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -520,7 +515,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html b/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
index 2a4cf494..e0800f88 100644
--- a/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
+++ b/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -484,7 +479,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html b/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html
index 073a9170..6c9db099 100644
--- a/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html
+++ b/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -457,7 +452,8 @@
 <h2><span class="section-number">5.3.7.2. </span>set_device_ip Utility<a class="headerlink" href="#set-device-ip-utility" title="Link to this heading"></a></h2>
 <p>The <strong><code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code></strong> executable allows you to configure the IP settings of a network camera directly from ROS 2, including switching between DHCP and static IP, and setting subnet mask and gateway. This is useful for quickly assigning or updating IP addresses without modifying launch files.</p>
 <blockquote>
-<div><p><strong>Note:</strong> The IP settings applied with <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> are <strong>permanent</strong> and <strong>will not be reset</strong> if the device is powered off or restarted.</p>
+<div><p><strong>Note:</strong> The IP settings applied with <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> are <strong>permanent</strong> and <strong>will not be reset</strong> if the device is powered off or restarted.
+<strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
 </div></blockquote>
 <p><strong>Example Usage</strong></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>set_device_ip<span class="w"> </span>--ros-args<span class="w"> </span><span class="se">\</span>
@@ -481,7 +477,8 @@
 <h2><span class="section-number">5.3.7.3. </span>Force IP Function<a class="headerlink" href="#force-ip-function" title="Link to this heading"></a></h2>
 <p>The <strong>Force IP</strong> feature allows you to assign a <strong>static IP address</strong> to a network camera, overriding DHCP settings. This is useful when multiple network cameras are connected, and you need each device to have a fixed IP for reliable communication.</p>
 <blockquote>
-<div><p><strong>Note:</strong> The Force IP configuration <strong>will be reset if the device is powered off or restarted</strong>. You need to reapply the settings after reboot.</p>
+<div><p><strong>Note:</strong> The Force IP configuration <strong>will be reset if the device is powered off or restarted</strong>. You need to reapply the settings after reboot.
+<strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
 </div></blockquote>
 <p><strong>Parameters</strong></p>
 <ul class="simple">
@@ -523,7 +520,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html b/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html
index 885be4f1..c1a41efe 100644
--- a/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html
+++ b/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -565,16 +560,12 @@
 <td>Custom</td>
 <td>Custom modifications, such as new configurations of post-processing pipelines and modifications to deep AE functions</td>
 </tr>
-<tr>
-<td>&gt; Since the parameter configuration of <code>Dual Color Streams</code> mode is quite different from that of <code>Default</code> mode, we provide the corresponding YAML configuration file.</td>
-<td></td>
-</tr>
-<tr>
-<td>Please set <code>config_file_path</code> to <code>gemini305_dual_color.yaml</code>, the configuration file is located in the config directory.</td>
-<td></td>
-</tr>
 </tbody>
-</table></section>
+</table><blockquote>
+<div><p>Since the parameter configuration of <code class="docutils literal notranslate"><span class="pre">Dual</span> <span class="pre">Color</span> <span class="pre">Streams</span></code> mode is quite different from that of <code class="docutils literal notranslate"><span class="pre">Default</span></code> mode, we provide the corresponding YAML configuration file.
+Please set <code class="docutils literal notranslate"><span class="pre">config_file_path</span></code> to <code class="docutils literal notranslate"><span class="pre">gemini305_dual_color.yaml</span></code>, the configuration file is located in the config directory.</p>
+</div></blockquote>
+</section>
 <section id="extended-presets">
 <h2><span class="section-number">5.3.6.6. </span>Extended presets<a class="headerlink" href="#extended-presets" title="Link to this heading"></a></h2>
 <section id="g33x-close-range-high-accuracy-gemini-330-gemini-335-gemini-336">
@@ -628,7 +619,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html b/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html
index 7cae1229..18c48e7e 100644
--- a/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html
+++ b/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -491,7 +486,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html
index 5cf38296..863a7d4e 100644
--- a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html
+++ b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -519,7 +514,7 @@ by running the following command:</p></li>
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html
index 14366c69..6b595b6f 100644
--- a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html
+++ b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -507,7 +502,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
index 57416eed..4b184773 100644
--- a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
+++ b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -418,6 +413,9 @@
 <p><strong>File path:</strong> <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp">image_sync_example_node.cpp</a></p>
 <p>This example node is designed for <strong>synchronized capture and timestamp verification</strong> across <strong>four Orbbec cameras</strong>.
 It can be used to validate frame alignment accuracy under the multi-camera <strong>Primary / Secondary Synced</strong> mode.</p>
+<blockquote>
+<div><p><strong>Supported Versions</strong>: Wrapper version 2.6.3 and above.</p>
+</div></blockquote>
 <hr class="docutils" />
 <section id="usage-guide">
 <h2><span class="section-number">5.2.3.1. </span>Usage Guide<a class="headerlink" href="#usage-guide" title="Link to this heading"></a></h2>
@@ -591,7 +589,7 @@ See <a class="reference internal" href="../performance/fastdds_tuning.html"><spa
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html b/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
index 75310491..951caf0d 100644
--- a/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
+++ b/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -461,7 +456,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html b/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html
index 5aa268cb..c5d61e4b 100644
--- a/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html
+++ b/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -566,7 +561,7 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html b/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html
index f7c01006..889e3cf8 100644
--- a/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html
+++ b/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
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 </li>
 </ul>
@@ -619,7 +614,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/6_benchmark/benchmark.html b/en/source/camera_devices/6_benchmark/benchmark.html
index e170ad58..df261eda 100644
--- a/en/source/camera_devices/6_benchmark/benchmark.html
+++ b/en/source/camera_devices/6_benchmark/benchmark.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
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+<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -414,7 +409,7 @@
              
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 <h1><span class="section-number">6. </span>Benchmark<a class="headerlink" href="#benchmark" title="Link to this heading"></a></h1>
-<p>This chapter introduces how to use the benchmark tool and provides test results for different cameras.</p>
+<p>This chapter introduces how to use the benchmark tool to test the performance of different cameras.</p>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
@@ -427,13 +422,8 @@
 <li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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-</li>
-<li class="toctree-l1"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a></li>
+<li class="toctree-l1"><a class="reference internal" href="othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a></li>
 </ul>
 </li>
 </ul>
@@ -452,7 +442,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/6_benchmark/benchmark_data.html b/en/source/camera_devices/6_benchmark/benchmark_data.html
deleted file mode 100644
index 8300cbda..00000000
--- a/en/source/camera_devices/6_benchmark/benchmark_data.html
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@@ -1,466 +0,0 @@
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-
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-<html class="writer-html5" lang="en" data-content_root="../../../">
-<head>
-  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
-
-  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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-      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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-    <link rel="search" title="Search" href="../../../search.html" />
-    <link rel="next" title="6.4. Other Tools" href="othertools.html" />
-    <link rel="prev" title="6.2. Benchmark Usage" href="benchmark_usage.html" /> 
-</head>
-
-<body class="wy-body-for-nav"> 
-  <div class="wy-grid-for-nav">
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-      <div class="wy-side-scroll">
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-            OrbbecSDK V2 ROS2 Wrapper
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-<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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-<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
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-</ul>
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-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
-</ul>
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-</ul>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Device default</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-330-gemini-330l-gemini-335-gemini-335l">5.3.6.1. Gemini 330 / Gemini 330L / Gemini 335 / Gemini 335L</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-336-gemini-336l">5.3.6.2. Gemini 336 / Gemini 336L</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-2">5.3.6.3. Gemini 2</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-2l">5.3.6.4. Gemini 2L</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-305">5.3.6.5. Gemini 305</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#extended-presets">5.3.6.6. Extended presets</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-collect-and-save-logs">8.3. How to Collect and Save Logs</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#the-image-does-not-reach-the-preset-frame-rate">8.8. The image does not reach the preset frame rate</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#issues-related-to-soft-trigger-mode">8.9. Issues related to soft trigger mode</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
-</ul>
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-      </div>
-    </nav>
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-<h1><span class="section-number">6.3. </span>Benchmark Data<a class="headerlink" href="#benchmark-data" title="Link to this heading"></a></h1>
-<p>This section records the data of using the benchmark tool to test different cameras. Click the link to download the xlsx data.</p>
-<section id="common-benckmark-data">
-<h2><span class="section-number">6.3.1. </span>Common Benckmark Data<a class="headerlink" href="#common-benckmark-data" title="Link to this heading"></a></h2>
-<p>Use the default launch file to run the <code class="docutils literal notranslate"><span class="pre">common_benchmark_node</span></code> and test for 1 hour of data.</p>
-<ul class="simple">
-<li><p><a class="reference external" href="../../_static/ros2_common_benchmark_data.xlsx">Common Benchmark Data</a></p></li>
-</ul>
-</section>
-<section id="service-benchmark-data">
-<h2><span class="section-number">6.3.2. </span>Service Benchmark Data<a class="headerlink" href="#service-benchmark-data" title="Link to this heading"></a></h2>
-<p>Use the default launch file to run the <code class="docutils literal notranslate"><span class="pre">service_benchmark_node</span></code> and <code class="docutils literal notranslate"><span class="pre">service_benchmark_node.py</span></code> separately. Each service is called 10 times, and the data is recorded.</p>
-<ul class="simple">
-<li><p><a class="reference external" href="../../_static/ros2_service_benchmark_cpp.xlsx">Service Benchmark Data cpp</a></p></li>
-<li><p><a class="reference external" href="../../_static/ros2_service_benchmark_python.xlsx">Service Benchmark Data python</a></p></li>
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diff --git a/en/source/camera_devices/6_benchmark/benchmark_usage.html b/en/source/camera_devices/6_benchmark/benchmark_usage.html
index 694bde25..b8a6c0ea 100644
--- a/en/source/camera_devices/6_benchmark/benchmark_usage.html
+++ b/en/source/camera_devices/6_benchmark/benchmark_usage.html
@@ -21,7 +21,7 @@
     <script src="../../../_static/js/theme.js"></script>
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     <link rel="search" title="Search" href="../../../search.html" />
-    <link rel="next" title="6.3. Benchmark Data" href="benchmark_data.html" />
+    <link rel="next" title="6.3. Other Tools" href="othertools.html" />
     <link rel="prev" title="6.1. Introduction" href="introduction.html" /> 
 </head>
 
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
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@@ -541,14 +536,14 @@
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-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/6_benchmark/introduction.html b/en/source/camera_devices/6_benchmark/introduction.html
index 69f15dc9..0d37422f 100644
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@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
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-<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -459,7 +454,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/6_benchmark/othertools.html b/en/source/camera_devices/6_benchmark/othertools.html
index 4f93c7d6..48e2116e 100644
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@@ -6,7 +6,7 @@
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   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>6.4. Other Tools &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
+  <title>6.3. Other Tools &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
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@@ -22,7 +22,7 @@
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@@ -295,17 +295,12 @@
 </li>
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-<li class="toctree-l5"><a class="reference internal" href="#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -403,7 +398,7 @@
       <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
           <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">6. </span>Benchmark</a></li>
-      <li class="breadcrumb-item active"><span class="section-number">6.4. </span>Other Tools</li>
+      <li class="breadcrumb-item active"><span class="section-number">6.3. </span>Other Tools</li>
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             <a href="../../../_sources/source/camera_devices/6_benchmark/othertools.md.txt" rel="nofollow"> View page source</a>
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@@ -414,15 +409,15 @@
            <div itemprop="articleBody">
              
   <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="other-tools">
-<h1><span class="section-number">6.4. </span>Other Tools<a class="headerlink" href="#other-tools" title="Link to this heading"></a></h1>
+<h1><span class="section-number">6.3. </span>Other Tools<a class="headerlink" href="#other-tools" title="Link to this heading"></a></h1>
 <section id="ob-benchmark-tool">
-<h2><span class="section-number">6.4.1. </span>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h2>
+<h2><span class="section-number">6.3.1. </span>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h2>
 <blockquote>
 <div><p>The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble)</p>
 </div></blockquote>
 <p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
 <section id="tool-configuration-start-benchmark-params-json">
-<h3><span class="section-number">6.4.1.1. </span>Tool Configuration (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#tool-configuration-start-benchmark-params-json" title="Link to this heading"></a></h3>
+<h3><span class="section-number">6.3.1.1. </span>Tool Configuration (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#tool-configuration-start-benchmark-params-json" title="Link to this heading"></a></h3>
 <div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
 <span class="w">    </span><span class="nt">&quot;start_benchmark_params&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
 <span class="w">        </span><span class="nt">&quot;camera_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
@@ -448,11 +443,11 @@
 </ul>
 </section>
 <section id="camera-configuration-launch-files">
-<h3><span class="section-number">6.4.1.2. </span>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h3>
+<h3><span class="section-number">6.3.1.2. </span>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h3>
 <p>In the launch folder, there are multiple.launch.py files (<code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code>, <code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code>, …, <code class="docutils literal notranslate"><span class="pre">ob_benchmark_19.launch.py</span></code>). Each file corresponds to a different camera configuration.</p>
 </section>
 <section id="running-the-ob-benchmark-tool">
-<h3><span class="section-number">6.4.1.3. </span>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h3>
+<h3><span class="section-number">6.3.1.3. </span>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h3>
 <p>To run the tool, use the following commands:</p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
 ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>ob_benchmark_node
@@ -460,7 +455,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
 </div>
 </section>
 <section id="output-data-files">
-<h3><span class="section-number">6.4.1.4. </span>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h3>
+<h3><span class="section-number">6.3.1.4. </span>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h3>
 <p>The output data files will be stored in the ob_benchmark folder with filenames like <code class="docutils literal notranslate"><span class="pre">0.csv</span></code>, <code class="docutils literal notranslate"><span class="pre">1.csv</span></code>, …, 19.csv. For example:</p>
 <ul class="simple">
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@@ -474,7 +469,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
            </div>
           </div>
           <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
-        <a href="benchmark_data.html" class="btn btn-neutral float-left" title="6.3. Benchmark Data" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="benchmark_usage.html" class="btn btn-neutral float-left" title="6.2. Benchmark Usage" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
         <a href="../7_developer_guide/developer_guide.html" class="btn btn-neutral float-right" title="7. Developer Guide" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
     </div>
 
@@ -482,7 +477,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html b/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html
index 4f44b402..ca03c665 100644
--- a/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html
+++ b/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -466,7 +461,7 @@ bash<span class="w"> </span>.make_deb.sh
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/7_developer_guide/developer_guide.html b/en/source/camera_devices/7_developer_guide/developer_guide.html
index fdd0fb32..d5bcf7bd 100644
--- a/en/source/camera_devices/7_developer_guide/developer_guide.html
+++ b/en/source/camera_devices/7_developer_guide/developer_guide.html
@@ -22,7 +22,7 @@
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="7.1. Migrating from main to Open-Source v2-main" href="migration_guide.html" />
-    <link rel="prev" title="6.4. Other Tools" href="../6_benchmark/othertools.html" /> 
+    <link rel="prev" title="6.3. Other Tools" href="../6_benchmark/othertools.html" /> 
 </head>
 
 <body class="wy-body-for-nav"> 
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -437,7 +432,7 @@
            </div>
           </div>
           <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
-        <a href="../6_benchmark/othertools.html" class="btn btn-neutral float-left" title="6.4. Other Tools" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="../6_benchmark/othertools.html" class="btn btn-neutral float-left" title="6.3. Other Tools" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
         <a href="migration_guide.html" class="btn btn-neutral float-right" title="7.1. Migrating from main to Open-Source v2-main" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
     </div>
 
@@ -445,7 +440,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/7_developer_guide/migration_guide.html b/en/source/camera_devices/7_developer_guide/migration_guide.html
index becad290..dc2df388 100644
--- a/en/source/camera_devices/7_developer_guide/migration_guide.html
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@@ -295,17 +295,12 @@
 </li>
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
@@ -1261,7 +1256,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
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diff --git a/en/source/camera_devices/8_FAQ/FAQ.html b/en/source/camera_devices/8_FAQ/FAQ.html
index 9403e554..2aebf8b8 100644
--- a/en/source/camera_devices/8_FAQ/FAQ.html
+++ b/en/source/camera_devices/8_FAQ/FAQ.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
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 </li>
 </ul>
@@ -559,7 +554,7 @@ When setting <code class="docutils literal notranslate"><span class="pre">softwa
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/camera_devices/index.html b/en/source/camera_devices/index.html
index d068f3c9..6912eee9 100644
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+++ b/en/source/camera_devices/index.html
@@ -295,17 +295,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#output-data-files">6.3.1.4. Output Data Files</a></li>
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 </ul>
@@ -538,13 +533,8 @@
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 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a></li>
+<li class="toctree-l2"><a class="reference internal" href="6_benchmark/othertools.html">6.3. Other Tools</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a></li>
 </ul>
 </li>
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@@ -592,7 +582,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
       </span></p>
   </div>
 
diff --git a/en/source/license.html b/en/source/license.html
index fa41f7e5..b00301d5 100644
--- a/en/source/license.html
+++ b/en/source/license.html
@@ -293,17 +293,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
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       </span></p>
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     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
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     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-02-05 09:12:31.
+      <span class="lastupdated">Last updated on 2026-03-24 07:49:09.
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diff --git a/zh/.doctrees/source/camera_devices/1_overview/introduction.doctree b/zh/.doctrees/source/camera_devices/1_overview/introduction.doctree
index ba6026a006d7418454ff8f9604347b9308888a7c..8dfbd1e3a76c4ffdb79dd1704c04b56bc141dd97 100644
GIT binary patch
delta 61
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delta 61
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diff --git a/zh/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree b/zh/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree
index cf095b9faf7c284d963fe6a6e09d6bd48639cfd2..f8313ba0530dab7d77d2cea9225a445c25327a58 100644
GIT binary patch
delta 34
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delta 30
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diff --git a/zh/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree b/zh/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree
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diff --git a/zh/.doctrees/source/camera_devices/4_application_guide/services.doctree b/zh/.doctrees/source/camera_devices/4_application_guide/services.doctree
index 98864e88c02cd93afcfaad8d8f110fb80f6f4241..6ee21cf143ea8d9ea418e1e7fae89f08e62d007b 100644
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diff --git a/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree
index e20db30488b212bf3da4b60304200cef184f1509..a9bce57afa11393899f4f2cb2cc59f46192d4980 100644
GIT binary patch
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cSed0-!lc~Y|G=L1_O3P@-8l=F@#HSwzhIDhr2qf`

delta 1439
zcmY*ZZERCz6yAH<d+Qj?h;y<JOQB@N0=N61b?cxX1ID_srTdUUAQ=mp>6*btw#67V
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zqnb0!&Sf~gYXeXjNVdSV0BRUxP0!(MawS!&trGcyFK8(dxrHS84p9rb8pP{uo9yWB
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TuM7{59mRWx9;$Qrb${w#)7i#w

diff --git a/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree
index 880c2180b6685e13c948639bc83b2c520def1355..75212b86dcc9823a7c92f5a587067204b94c9cc4 100644
GIT binary patch
delta 1261
zcma)6T}V@L6yLpbZ7S3<7dCTlLEc5n)k-1@e9#`kLZV({O}lz_-IwlO!3UW=6kJ%o
zoLeAKsA<%TWrIp3`+y#Th@|IWp`uSx54{vY|8uvyj5hP-!1?<9e&?J&|If<LLCdh^
z=GRj*meo3boySH0MZCMG9v|9WnUt%8$HwZN_+huTM9zsL4K1g^l&<WI#JhTfeM(#w
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delta 792
zcmexedAF3cfpzL7tBtJBWf@&2A7lxgJWo=7bF^YE)8u>N9D-`;CDsbhr)+$(t53lu
zIX@+J@&kEMV-Ukm;n|9XPxtgcpVjiTzv<c34KG`JpYL7wWCv8Col9z3Vrfo^jXqfQ
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Ch9Zjq

diff --git a/zh/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree
index 31533d92133469547772f6d2709227e3f2f01dea..d0022bc8dea6162c2e5881bf234da28c7cf65c33 100644
GIT binary patch
delta 2332
zcma)8Z){Ul6yJUAdtJ9~-NqYT+pV<S+HPZZx(WycU9A)*Q$QjlDvnL3&o{RsTjh_)
zzhJO)y6C9^H*rqkg9#4JK2XG<#33^faghYjFB)(rB>ss}L?Od-Znw1^#qj0q{_eTw
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delta 2147
zcma)7YfM{Z818q@Y1dLNEj<N#qbsA(Lb+tsA<oP(Kp-;$S>nvp42HOqMlK03WL`iQ
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diff --git a/zh/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree b/zh/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree
index 27349c5d55a15b6783d008d9e45dfd379ac11df7..a436a60ab6483ea37058b39b27f78d77b3975e5e 100644
GIT binary patch
delta 158
zcmX>o^<9#+fpzK|o{g+q85sj7%P|>fJ)67q+1BnC>!&{1(ff2l&-2+kp3T|yd{)b|
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delta 210
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diff --git a/zh/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree b/zh/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree
deleted file mode 100644
index 7f5610f31aa57cde54c6f9cf366f021968e6bef1..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/zh/_sources/source/camera_devices/1_overview/introduction.md.txt b/zh/_sources/source/camera_devices/1_overview/introduction.md.txt
index f4554418..21fff072 100644
--- a/zh/_sources/source/camera_devices/1_overview/introduction.md.txt
+++ b/zh/_sources/source/camera_devices/1_overview/introduction.md.txt
@@ -189,12 +189,12 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
 | Gemini 210              | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware)               | gemini210.launch.py         |
 | Gemini 2                | [1.4.98](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware)                | gemini2.launch.py           |
 | Gemini 2 L              | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware)                | gemini2L.launch.py          |
-| Femto Bolt              | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware)              | femto_bolt.launch.py        |
+| Femto Bolt              | [1.1.3](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware)              | femto_bolt.launch.py        |
 | Femto Mega              | [1.3.1](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware)              | femto_mega.launch.py        |
 | Femto Mega I            | [2.0.4](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware)            | femto_mega.launch.py        |
 | Astra 2                 | [2.8.20](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip)    | astra2.launch.py            |
-| Gemini 345            | 1.7.12 | gemini345.launch.py |
-| Gemini 345Lg            | 1.7.12 | gemini345_lg.launch.py |
+| Gemini 345            | 1.9.03 | gemini345.launch.py |
+| Gemini 345Lg            | 1.9.03 | gemini345_lg.launch.py |
 | Pulsar SL450            | 2.2.4.5 | lidar.launch.py |
 | Pulsar ME450            | 1.0.0.6 | lidar.launch.py |
 
diff --git a/zh/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt b/zh/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt
index 41b73115..a0c7f76d 100644
--- a/zh/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt
+++ b/zh/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt
@@ -34,7 +34,7 @@
 
 | **产品列表**       | **下载链接**                                                                                       | 最新版本   |
 | ------------------ | -------------------------------------------------------------------------------------------------- | ---------- |
-| Femto Bolt         | [Femto Bolt 固件](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware)      | v1.1.2     |
+| Femto Bolt         | [Femto Bolt 固件](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware)      | v1.1.3     |
 | Femto Mega         | [Femto Mega 固件](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware)      | v1.3.1     |
 | Gemini 2           | [Gemini 2 固件](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware)           | v1.4.98    |
 | Gemini 2 L         | [Gemini 2L 固件](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware)         | v1.5.02    |
diff --git a/zh/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt b/zh/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
index d5b2f627..320deb5d 100644
--- a/zh/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
+++ b/zh/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
@@ -38,16 +38,21 @@
     *   启用无效点云过滤。
 *   **`point_cloud_qos`、`[stream]_qos`、`[stream]_camera_info_qos`**
     *   ROS 2消息服务质量（QoS）设置。可能的值为 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS`、`SENSOR_DATA`，不区分大小写。这些分别对应 `rmw_qos_profile_system_default`、`rmw_qos_profile_default`、`rmw_qos_profile_parameter_events`、`rmw_qos_profile_services_default`、`rmw_qos_profile_parameters` 和 `SENSOR_DATA`。
-*   **`color.image_raw.enable_pub_plugins`**
-    *   启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
-*   **`depth.image_raw.enable_pub_plugins`**
-    *   启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。
-*   **`left_ir.image_raw.enable_pub_plugins`**
-    *   启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
-*   **`right_ir.image_raw.enable_pub_plugins`**
-    *   启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
-*   **`point_cloud_decimation_filter_factor`**
-    *   点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样倍数越大。
+* **`color.image_raw.enable_pub_plugins`**
+  * 启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
+    > **支持版本**： wrapper version 2.6.3 及以上。
+* **`depth.image_raw.enable_pub_plugins`**
+  * 启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。
+    > **支持版本**： wrapper version 2.6.3 及以上。
+* **`left_ir.image_raw.enable_pub_plugins`**
+  * 启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
+    > **支持版本**： wrapper version 2.6.3 及以上。
+* **`right_ir.image_raw.enable_pub_plugins`**
+  * 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
+    > **支持版本**： wrapper version 2.6.3 及以上。
+* **`point_cloud_decimation_filter_factor`**
+  * 点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样倍数越大。
+    > **支持版本**： wrapper version 2.6.3 及以上。
 
 ### 传感器控制
 
@@ -83,9 +88,9 @@
 #### 深度流
 *   **`enable_depth_auto_exposure_priority`**
     *   启用深度自动曝光优先级。
-*   **`mean_intensity_set_point`**
-    *   设置开启自动曝光时深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。
-    > **注意：** 这取代了已弃用的 `depth_brightness`，后者仍支持以保持向后兼容性。
+* **`mean_intensity_set_point`**
+  * 设置开启自动曝光时深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。
+    > **注意：** 在 2.4.7 版本之后，该参数取代已弃用的 `depth_brightness`，但为了向后兼容，仍会支持 `depth_brightness`。
 *   **`enable_depth_scale`**
     *   设置D2C后是否启用深度缩放。`true`表示启用，默认为`true`。
 *   **`depth_precision`**
@@ -132,42 +137,55 @@
 > 用于 [多相机同步](../5_advanced_guide/multi_camera/multi_camera_synced.md)。
 
 #### 网络相机
-*   **`enumerate_net_device`**
-    *   启用自动枚举网络设备。
-*   **`net_device_ip`** / **`net_device_port`**
-    *   设置网络设备的IP地址和端口（通常为 `8090`）。
-*   **`force_ip_enable`**
-    *   启用强制IP功能。**默认值：** `false`
-*   **`force_ip_mac`**
-    *   连接多个相机时的目标设备MAC地址（例如，`"54:14:FD:06:07:DA"`）。您可以使用 `list_devices_node` 查找每个设备的MAC。**默认值：** `""`
-*   **`force_ip_address`**
-    *   要分配的静态IP地址。**默认值：** `192.168.1.10`
-*   **`force_ip_subnet_mask`**
-    *   静态IP的子网掩码。**默认值：** `255.255.255.0`
-*   **`force_ip_gateway`**
-    *   静态IP的网关地址。**默认值：** `192.168.1.1`
+* **`enumerate_net_device`**
+  * 启用自动枚举网络设备。
+* **`net_device_ip`** / **`net_device_port`**
+  * 设置网络设备的IP地址和端口（通常为 `8090`）。
+* **`force_ip_enable`**
+  * 启用强制IP功能。**默认值：** `false`
+    > **支持版本**： wrapper version 2.5.4 及以上。
+* **`force_ip_mac`**
+  * 连接多个相机时的目标设备MAC地址（例如，`"54:14:FD:06:07:DA"`）。您可以使用 `list_devices_node` 查找每个设备的MAC。**默认值：** `""`
+    > **支持版本**： wrapper version 2.5.4 及以上。
+* **`force_ip_address`**
+  * 要分配的静态IP地址。**默认值：** `192.168.1.10`
+    > **支持版本**： wrapper version 2.5.4 及以上。
+* **`force_ip_subnet_mask`**
+  * 静态IP的子网掩码。**默认值：** `255.255.255.0`
+    > **支持版本**： wrapper version 2.5.4 及以上。
+* **`force_ip_gateway`**
+  * 静态IP的网关地址。**默认值：** `192.168.1.1`
+    > **支持版本**： wrapper version 2.5.4 及以上。
 
 > 用于 [网络相机](../5_advanced_guide/configuration/net_camera.md)。
 
 #### 设备特定
 *   **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
     *   启用gmsl触发输出信号 / 设置gmsl触发fps。用于 [gmsl相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。
-*   **`preset_resolution_config`**
-    * 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 仅在 Gemini435Le 设备上受支持。留空禁用。
+* **`enable_ptp_config`**
+  * 启用PTP时间同步。仅适用于Gemini 335Le。需要 `enable_sync_host_time` 设置为 `false`。
+    > **支持模组**：Gemini 335Le。
+    > **支持版本**： wrapper version 2.3.4 及以上。
+* **`preset_resolution_config`**
+  * 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 留空禁用。
+    > **支持模组**：Gemini 435Le。
+    > **支持版本**： wrapper version 2.6.3 及以上。
 * **`ae_mode`**
   * `colorbased`：自动曝光基于彩色流。`depthbased`：自动曝光基于深度流。**默认值：** `depthbased`
-    > 仅支持Gemini 305。
-    >
+    > **支持模组**：Gemini 305。
+    > **支持版本**： wrapper version 2.7.2 及以上。
 * **`enalbe_sports_mode`**
   * 是否开启运动模式。**默认值：** `false`
-    > 仅支持Gemini 305。
-    >
+    > **支持模组**：Gemini 305。
+    > **支持版本**： wrapper version 2.7.2 及以上。
 * **`depth_downscale`** / **`left_ir_downscale`** /**`right_ir_downscale`**
   * 设置下采样倍数。可用`ros2 run orbbec_camera list_camera_profile_mode_node`查看可设置分辨率。**默认值：** `1`
-    > 仅支持Gemini 305。
-    >
-*   **`enable_ptp_config`**
-    *   启用PTP时间同步。仅适用于Gemini 335Le。需要 `enable_sync_host_time` 设置为 `false`。
+    > **支持模组**：Gemini 305。
+    > **支持版本**： wrapper version 2.7.2 及以上。
+* **`enable_false_positive_filter`**
+  * 启用鬼影滤波。可减少重影噪声。
+    > **支持模组**： DaBaiA/DaBaiAL/Gemini345/Gemini345Lg.
+    > **支持版本**： wrapper version 2.7.6 及以上；firmware version 1.9.03 及以上。
 
 #### 视差
 *   **`disparity_to_depth_mode`**
@@ -197,6 +215,7 @@
   *   `DEPTH`：将彩色对齐到深度。
 - **`intra_camera_sync_reference`**
   - 设置相机内同步的参考点。适用于Gemini 330系列设备，当 `sync_mode` 设置为**软件**或**硬件触发**模式时。**选项：** `Start`、`Middle`、`End`。设置为空时，长基线设备默认End，短基线设备默认Middle。
+    > **支持版本**： wrapper version 2.6.3 及以上。
 
 ### 基础与通用参数
 
@@ -227,18 +246,19 @@
     *   启用主机时间与相机时间的同步。默认值为 `true`。如果使用全局时间，设置为 `false`。
 *   **`time_domain`**
     *   选择时间戳类型：`device`、`global` 和 `system`。
-*   **`time_sync_period`**
-
-    *   相机时间与主机系统同步的间隔（秒）。
+* **`time_sync_period`**
+  * 相机时间与主机系统同步的间隔（秒）。
     > **注意**：仅当 **`enable_sync_host_time = true`** 且 **`time_domain = device`** 时需要设置此参数。
+    > **支持版本**： wrapper version 2.6.3 及以上。
 *   **`enable_frame_sync`**
     *   启用帧同步。
 
 #### 日志与诊断
 *   **`log_level`**
     *   SDK日志级别。默认为 `info`。可选值：`debug`、`info`、`warn`、`error`、`fatal`。
-*   **`log_file_name`**
-    *   保存的SDK日志文件名。当`log_level`为`debug`时生效。
+* **`log_file_name`**
+  * 保存的SDK日志文件名。当`log_level`为`debug`时生效。
+    > **支持版本**： wrapper version 2.6.3 及以上。
 *   **`diagnostic_period`**
     *   诊断周期（秒）。
 *   **`enable_heartbeat`**
diff --git a/zh/_sources/source/camera_devices/4_application_guide/services.md.txt b/zh/_sources/source/camera_devices/4_application_guide/services.md.txt
index 847952ae..3b880bf2 100644
--- a/zh/_sources/source/camera_devices/4_application_guide/services.md.txt
+++ b/zh/_sources/source/camera_devices/4_application_guide/services.md.txt
@@ -124,10 +124,11 @@
     ```bash
     ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
     ```
-    `/camera/get_laser_status`
+*   `/camera/get_laser_status`
     ```bash
     ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'
     ```
+    > **支持版本**： wrapper version 2.6.3 及以上。
 *   `/camera/set_ldp_enable` & `/camera/get_ldp_status`
     ```bash
     ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
@@ -231,12 +232,13 @@
 
 ### 特定设备
 
-**Gemini 435L**
 *   `/camera/write_customer_data` & `/camera/read_customer_data`
     ```bash
     ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
     ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'
     ```
+    > **支持模组**：Gemini 435Le。
+    > **支持版本**： wrapper version 2.5.4 及以上。
 *   `/camera/set_user_calib_params` & `/camera/get_user_calib_params`
     ```bash
     ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
@@ -257,25 +259,29 @@
                     -6.804073229432106e-06]}'
     ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
     ```
-
-**Gemini 305**
+    > **支持模组**：Gemini 435Le。
+    > **支持版本**： wrapper version 2.5.4 及以上。
 *   `/camera/set_ae_mode`
     ```bash
       # depthbased or colorbased
       ros2 service call /camera/set_ae_mode orbbec_camera_msgs/srv/SetString "data: depthbased"
     ```
-
+    > **支持模组**：Gemini 305。
+    > **支持版本**： wrapper version 2.7.2 及以上。
 *   `/camera/set_sports_mode`
     ```bash
       ros2 service call /camera/set_sports_mode std_srvs/srv/SetBool "data: true"
     ```
-
+    > **支持模组**：Gemini 305。
+    > **支持版本**： wrapper version 2.7.2 及以上。
 ### 点云下采样
 *   `/camera/set_point_cloud_decimation`
     ```bash
     ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}'
     ```
+    > **支持版本**： wrapper version 2.6.3 及以上。
 *   `/camera/get_point_cloud_decimation`
     ```bash
     ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}'
     ```
+    > **支持版本**： wrapper version 2.6.3 及以上。
\ No newline at end of file
diff --git a/zh/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt
index 55916cf8..174716cc 100644
--- a/zh/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt
+++ b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt
@@ -49,6 +49,7 @@ ros2 launch orbbec_camera multi_net_camera.launch.py
 **`set_device_ip`** 可执行文件允许您直接从 ROS 2 配置网络相机的 IP 设置，包括在 DHCP 和静态 IP 之间切换，以及设置子网掩码和网关。这对于快速分配或更新 IP 地址而无需修改启动文件非常有用。
 
 > **注意：**使用 `set_device_ip` 应用的 IP 设置是**永久性的**，如果设备断电或重启，**不会重置**。
+> **支持版本**： wrapper version 2.6.3 及以上。
 
 **示例用法**
 
@@ -74,6 +75,7 @@ ros2 run orbbec_camera set_device_ip --ros-args \
 **强制 IP** 功能允许您为网络相机分配**静态 IP 地址**，覆盖 DHCP 设置。当连接多个网络相机时，这非常有用，您需要每个设备具有固定的 IP 以实现可靠的通信。
 
 > **注意：**如果设备断电或重启，强制 IP 配置**将被重置**。您需要在重启后重新应用设置。
+> **支持版本**： wrapper version 2.6.3 及以上。
 
 **参数**
 
diff --git a/zh/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt
index 41900c39..1024d355 100644
--- a/zh/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt
+++ b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt
@@ -47,6 +47,7 @@
 | Close Range High Accuracy |  可调更大视差搜索范围，Mini-Z减小<br> 其余表现与High Accuracy保持一致 |
 | Dual Color Streams |  支持左右彩色同时出流，无深度IR信息<br> 左右路输出效果一致 |
 | Custom |  自定义修改，例如后处理管道的新配置、深度AE功能的修改 |
+
 > 由于 `Dual Color Streams` 模式的参数配置与 `Default` 模式差异较大，我们提供了对应的 YAML 配置文件。
 请将 `config_file_path` 设置为 `gemini305_dual_color`，该配置文件位于 config 目录下。
 
diff --git a/zh/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt
index 4d44121f..5bbea42e 100644
--- a/zh/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt
+++ b/zh/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt
@@ -4,7 +4,7 @@
 
 此示例节点用于 **4 台 Orbbec 相机** 的同步采集与时间戳验证。
 它可用于验证多相机主从同步（Primary / Secondary Synced）模式下的帧对齐精度。
-
+> **支持版本**： wrapper version 2.6.3 及以上。
 ---
 
 ## 使用教程
diff --git a/zh/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt b/zh/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt
index 2ec9c8c7..51a60c91 100644
--- a/zh/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt
+++ b/zh/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt
@@ -1,12 +1,11 @@
 性能基准测试
 ======================================================
 
-本章介绍如何使用性能基准测试工具，并提供不同相机的测试结果。
+本章介绍如何使用性能基准测试工具来测试不同相机的性能。
 
 .. toctree::
     :maxdepth: 2
 
     introduction.md
     benchmark_usage.md
-    benchmark_data.md
     othertools.md
diff --git a/zh/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt b/zh/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt
deleted file mode 100644
index b73eec87..00000000
--- a/zh/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-# 性能基准测试数据
-
-本节记录了使用性能基准测试工具测试不同相机的数据。点击链接下载 xlsx 数据。
-
-## 通用基准测试数据
-
-使用默认启动文件运行 `common_benchmark_node` 并测试 1 小时的数据。
-
-- [通用基准测试数据](../../_static/ros2_common_benchmark_data.xlsx)
-
-## 服务基准测试数据
-
-使用默认启动文件分别运行 `service_benchmark_node` 和 `service_benchmark_node.py`。每个服务调用 10 次，并记录数据。
-
-- [服务基准测试数据 C++](../../_static/ros2_service_benchmark_cpp.xlsx)
-- [服务基准测试数据 Python](../../_static/ros2_service_benchmark_python.xlsx)
diff --git a/zh/_static/ros2_common_benchmark_data.xlsx b/zh/_static/ros2_common_benchmark_data.xlsx
deleted file mode 100644
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     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
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-<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -449,8 +444,7 @@
 <li class="toctree-l2"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html">6.1. 介绍</a></li>
 <li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.4. 其他工具</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.3. 其他工具</a></li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="source/camera_devices/7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
@@ -515,7 +509,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
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     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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diff --git a/zh/source/camera_devices/2_installation/installation.html b/zh/source/camera_devices/2_installation/installation.html
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+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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diff --git a/zh/source/camera_devices/3_quickstarts/orbbecviewer.html b/zh/source/camera_devices/3_quickstarts/orbbecviewer.html
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+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -451,7 +446,7 @@
 <tr>
 <td>Femto Bolt</td>
 <td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware">Femto Bolt 固件</a></td>
-<td>v1.1.2</td>
+<td>v1.1.3</td>
 </tr>
 <tr>
 <td>Femto Mega</td>
@@ -509,7 +504,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/3_quickstarts/quickstart.html b/zh/source/camera_devices/3_quickstarts/quickstart.html
index 46de596e..7850b680 100644
--- a/zh/source/camera_devices/3_quickstarts/quickstart.html
+++ b/zh/source/camera_devices/3_quickstarts/quickstart.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -517,7 +512,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/3_quickstarts/quickstarts.html b/zh/source/camera_devices/3_quickstarts/quickstarts.html
index 7592bd54..d88371b9 100644
--- a/zh/source/camera_devices/3_quickstarts/quickstarts.html
+++ b/zh/source/camera_devices/3_quickstarts/quickstarts.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -445,7 +440,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/4_application_guide/application_guide.html b/zh/source/camera_devices/4_application_guide/application_guide.html
index ebe6276d..586175ee 100644
--- a/zh/source/camera_devices/4_application_guide/application_guide.html
+++ b/zh/source/camera_devices/4_application_guide/application_guide.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -473,7 +468,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/4_application_guide/compressed_image.html b/zh/source/camera_devices/4_application_guide/compressed_image.html
index 71df16d6..2af1e1fb 100644
--- a/zh/source/camera_devices/4_application_guide/compressed_image.html
+++ b/zh/source/camera_devices/4_application_guide/compressed_image.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -434,7 +429,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html b/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html
index 8e5a558b..f2b091a1 100644
--- a/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html
+++ b/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -775,7 +770,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/4_application_guide/launch_parameters.html b/zh/source/camera_devices/4_application_guide/launch_parameters.html
index 58f04eab..22228bd6 100644
--- a/zh/source/camera_devices/4_application_guide/launch_parameters.html
+++ b/zh/source/camera_devices/4_application_guide/launch_parameters.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -496,28 +491,48 @@
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">color.image_raw.enable_pub_plugins</span></code></strong></p>
-<ul class="simple">
-<li><p>启用彩色图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p></li>
+<ul>
+<li><p>启用彩色图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">depth.image_raw.enable_pub_plugins</span></code></strong></p>
-<ul class="simple">
-<li><p>启用深度图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressedDepth&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;]</span></code>。</p></li>
+<ul>
+<li><p>启用深度图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressedDepth&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;]</span></code>。</p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">left_ir.image_raw.enable_pub_plugins</span></code></strong></p>
-<ul class="simple">
-<li><p>启用左红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p></li>
+<ul>
+<li><p>启用左红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">right_ir.image_raw.enable_pub_plugins</span></code></strong></p>
-<ul class="simple">
-<li><p>启用右红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p></li>
+<ul>
+<li><p>启用右红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_decimation_filter_factor</span></code></strong></p>
-<ul class="simple">
-<li><p>点云下采样因子。范围：<code class="docutils literal notranslate"><span class="pre">1–8</span></code>，<code class="docutils literal notranslate"><span class="pre">1</span></code>表示不下采样，数值越大下采样倍数越大。</p></li>
+<ul>
+<li><p>点云下采样因子。范围：<code class="docutils literal notranslate"><span class="pre">1–8</span></code>，<code class="docutils literal notranslate"><span class="pre">1</span></code>表示不下采样，数值越大下采样倍数越大。</p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 </ul>
@@ -603,13 +618,14 @@
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point</span></code></strong></p>
-<ul class="simple">
-<li><p>设置开启自动曝光时深度图像的目标平均强度。例如：<code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>。</p></li>
-</ul>
+<ul>
+<li><p>设置开启自动曝光时深度图像的目标平均强度。例如：<code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>。</p>
 <blockquote>
-<div><p><strong>注意：</strong> 这取代了已弃用的 <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>，后者仍支持以保持向后兼容性。</p>
+<div><p><strong>注意：</strong> 在 2.4.7 版本之后，该参数取代已弃用的 <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>，但为了向后兼容，仍会支持 <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>。</p>
 </div></blockquote>
 </li>
+</ul>
+</li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_scale</span></code></strong></p>
 <ul class="simple">
 <li><p>设置D2C后是否启用深度缩放。<code class="docutils literal notranslate"><span class="pre">true</span></code>表示启用，默认为<code class="docutils literal notranslate"><span class="pre">true</span></code>。</p></li>
@@ -720,40 +736,60 @@
 </section>
 <section id="id9">
 <h3><span class="section-number">4.1.3.2. </span>网络相机<a class="headerlink" href="#id9" title="链接到此标题。"></a></h3>
-<ul class="simple">
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
 <ul>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
+<ul class="simple">
 <li><p>启用自动枚举网络设备。</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code></strong></p>
-<ul>
+<ul class="simple">
 <li><p>设置网络设备的IP地址和端口（通常为 <code class="docutils literal notranslate"><span class="pre">8090</span></code>）。</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_enable</span></code></strong></p>
 <ul>
-<li><p>启用强制IP功能。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p></li>
+<li><p>启用强制IP功能。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_mac</span></code></strong></p>
 <ul>
-<li><p>连接多个相机时的目标设备MAC地址（例如，<code class="docutils literal notranslate"><span class="pre">&quot;54:14:FD:06:07:DA&quot;</span></code>）。您可以使用 <code class="docutils literal notranslate"><span class="pre">list_devices_node</span></code> 查找每个设备的MAC。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">&quot;&quot;</span></code></p></li>
+<li><p>连接多个相机时的目标设备MAC地址（例如，<code class="docutils literal notranslate"><span class="pre">&quot;54:14:FD:06:07:DA&quot;</span></code>）。您可以使用 <code class="docutils literal notranslate"><span class="pre">list_devices_node</span></code> 查找每个设备的MAC。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">&quot;&quot;</span></code></p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_address</span></code></strong></p>
 <ul>
-<li><p>要分配的静态IP地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.10</span></code></p></li>
+<li><p>要分配的静态IP地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.10</span></code></p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_subnet_mask</span></code></strong></p>
 <ul>
-<li><p>静态IP的子网掩码。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">255.255.255.0</span></code></p></li>
+<li><p>静态IP的子网掩码。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">255.255.255.0</span></code></p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_gateway</span></code></strong></p>
 <ul>
-<li><p>静态IP的网关地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.1</span></code></p></li>
+<li><p>静态IP的网关地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.1</span></code></p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 </ul>
@@ -769,16 +805,32 @@
 <li><p>启用gmsl触发输出信号 / 设置gmsl触发fps。用于 <a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html"><span class="doc">gmsl相机</span></a>。</p></li>
 </ul>
 </li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
+<ul>
+<li><p>启用PTP时间同步。仅适用于Gemini 335Le。需要 <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。</p>
+<blockquote>
+<div><p><strong>支持模组</strong>：Gemini 335Le。
+<strong>支持版本</strong>： wrapper version 2.3.4 及以上。</p>
+</div></blockquote>
+</li>
+</ul>
+</li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
-<ul class="simple">
-<li><p>摄像头设备的预设分辨率配置。格式: &quot;width,height,ir_decimation_factor,depth_decimation_factor&quot;. Example: &quot;1280,720,4,4&quot;. 仅在 Gemini435Le 设备上受支持。留空禁用。</p></li>
+<ul>
+<li><p>摄像头设备的预设分辨率配置。格式: &quot;width,height,ir_decimation_factor,depth_decimation_factor&quot;. Example: &quot;1280,720,4,4&quot;. 留空禁用。</p>
+<blockquote>
+<div><p><strong>支持模组</strong>：Gemini 435Le。
+<strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">ae_mode</span></code></strong></p>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">colorbased</span></code>：自动曝光基于彩色流。<code class="docutils literal notranslate"><span class="pre">depthbased</span></code>：自动曝光基于深度流。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">depthbased</span></code></p>
 <blockquote>
-<div><p>仅支持Gemini 305。</p>
+<div><p><strong>支持模组</strong>：Gemini 305。
+<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
 </div></blockquote>
 </li>
 </ul>
@@ -787,7 +839,8 @@
 <ul>
 <li><p>是否开启运动模式。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p>
 <blockquote>
-<div><p>仅支持Gemini 305。</p>
+<div><p><strong>支持模组</strong>：Gemini 305。
+<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
 </div></blockquote>
 </li>
 </ul>
@@ -796,14 +849,20 @@
 <ul>
 <li><p>设置下采样倍数。可用<code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">list_camera_profile_mode_node</span></code>查看可设置分辨率。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">1</span></code></p>
 <blockquote>
-<div><p>仅支持Gemini 305。</p>
+<div><p><strong>支持模组</strong>：Gemini 305。
+<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
 </div></blockquote>
 </li>
 </ul>
 </li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
-<ul class="simple">
-<li><p>启用PTP时间同步。仅适用于Gemini 335Le。需要 <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。</p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_false_positive_filter</span></code></strong></p>
+<ul>
+<li><p>启用鬼影滤波。可减少重影噪声。</p>
+<blockquote>
+<div><p><strong>支持模组</strong>： DaBaiA/DaBaiAL/Gemini345/Gemini345Lg.
+<strong>支持版本</strong>： wrapper version 2.7.6 及以上；firmware version 1.9.03 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 </ul>
@@ -846,19 +905,19 @@
 </section>
 <section id="id12">
 <h3><span class="section-number">4.1.3.6. </span>相机内同步<a class="headerlink" href="#id12" title="链接到此标题。"></a></h3>
-<ul class="simple">
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_registration</span></code></strong></p>
 <ul>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_registration</span></code></strong></p>
+<ul class="simple">
 <li><p>启用深度帧与彩色帧的对齐。当 <code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时需要此字段。</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">align_mode</span></code></strong></p>
-<ul>
+<ul class="simple">
 <li><p>要使用的对齐模式。选项为 <code class="docutils literal notranslate"><span class="pre">HW</span></code>（硬件对齐）和 <code class="docutils literal notranslate"><span class="pre">SW</span></code>（软件对齐）。</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">align_target_stream</span></code></strong></p>
-<ul>
+<ul class="simple">
 <li><p>设置对齐目标流模式。</p></li>
 <li><p>可能的值为 <code class="docutils literal notranslate"><span class="pre">COLOR</span></code>、<code class="docutils literal notranslate"><span class="pre">DEPTH</span></code>。</p></li>
 <li><p><code class="docutils literal notranslate"><span class="pre">COLOR</span></code>：将深度对齐到彩色。</p></li>
@@ -867,7 +926,11 @@
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">intra_camera_sync_reference</span></code></strong></p>
 <ul>
-<li><p>设置相机内同步的参考点。适用于Gemini 330系列设备，当 <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> 设置为<strong>软件</strong>或<strong>硬件触发</strong>模式时。<strong>选项：</strong> <code class="docutils literal notranslate"><span class="pre">Start</span></code>、<code class="docutils literal notranslate"><span class="pre">Middle</span></code>、<code class="docutils literal notranslate"><span class="pre">End</span></code>。设置为空时，长基线设备默认End，短基线设备默认Middle。</p></li>
+<li><p>设置相机内同步的参考点。适用于Gemini 330系列设备，当 <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> 设置为<strong>软件</strong>或<strong>硬件触发</strong>模式时。<strong>选项：</strong> <code class="docutils literal notranslate"><span class="pre">Start</span></code>、<code class="docutils literal notranslate"><span class="pre">Middle</span></code>、<code class="docutils literal notranslate"><span class="pre">End</span></code>。设置为空时，长基线设备默认End，短基线设备默认Middle。</p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 </ul>
@@ -944,13 +1007,15 @@
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">time_sync_period</span></code></strong></p>
-<ul class="simple">
-<li><p>相机时间与主机系统同步的间隔（秒）。</p></li>
-</ul>
+<ul>
+<li><p>相机时间与主机系统同步的间隔（秒）。</p>
 <blockquote>
-<div><p><strong>注意</strong>：仅当 <strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span> <span class="pre">=</span> <span class="pre">true</span></code></strong> 且 <strong><code class="docutils literal notranslate"><span class="pre">time_domain</span> <span class="pre">=</span> <span class="pre">device</span></code></strong> 时需要设置此参数。</p>
+<div><p><strong>注意</strong>：仅当 <strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span> <span class="pre">=</span> <span class="pre">true</span></code></strong> 且 <strong><code class="docutils literal notranslate"><span class="pre">time_domain</span> <span class="pre">=</span> <span class="pre">device</span></code></strong> 时需要设置此参数。
+<strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
 </div></blockquote>
 </li>
+</ul>
+</li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_frame_sync</span></code></strong></p>
 <ul class="simple">
 <li><p>启用帧同步。</p></li>
@@ -960,24 +1025,28 @@
 </section>
 <section id="id16">
 <h3><span class="section-number">4.1.4.4. </span>日志与诊断<a class="headerlink" href="#id16" title="链接到此标题。"></a></h3>
-<ul class="simple">
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
 <ul>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
+<ul class="simple">
 <li><p>SDK日志级别。默认为 <code class="docutils literal notranslate"><span class="pre">info</span></code>。可选值：<code class="docutils literal notranslate"><span class="pre">debug</span></code>、<code class="docutils literal notranslate"><span class="pre">info</span></code>、<code class="docutils literal notranslate"><span class="pre">warn</span></code>、<code class="docutils literal notranslate"><span class="pre">error</span></code>、<code class="docutils literal notranslate"><span class="pre">fatal</span></code>。</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">log_file_name</span></code></strong></p>
 <ul>
-<li><p>保存的SDK日志文件名。当<code class="docutils literal notranslate"><span class="pre">log_level</span></code>为<code class="docutils literal notranslate"><span class="pre">debug</span></code>时生效。</p></li>
+<li><p>保存的SDK日志文件名。当<code class="docutils literal notranslate"><span class="pre">log_level</span></code>为<code class="docutils literal notranslate"><span class="pre">debug</span></code>时生效。</p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
+</li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">diagnostic_period</span></code></strong></p>
-<ul>
+<ul class="simple">
 <li><p>诊断周期（秒）。</p></li>
 </ul>
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_heartbeat</span></code></strong></p>
-<ul>
+<ul class="simple">
 <li><p>启用心跳功能。默认为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。如果为 <code class="docutils literal notranslate"><span class="pre">true</span></code>，相机节点将向固件发送心跳信号。</p></li>
 </ul>
 </li>
@@ -1117,7 +1186,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/4_application_guide/point_cloud.html b/zh/source/camera_devices/4_application_guide/point_cloud.html
index 0e02b1e0..a2ddb655 100644
--- a/zh/source/camera_devices/4_application_guide/point_cloud.html
+++ b/zh/source/camera_devices/4_application_guide/point_cloud.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -479,7 +474,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/4_application_guide/services.html b/zh/source/camera_devices/4_application_guide/services.html
index a07cf018..39c3aa91 100644
--- a/zh/source/camera_devices/4_application_guide/services.html
+++ b/zh/source/camera_devices/4_application_guide/services.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
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-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -574,10 +569,14 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_laser_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
 </pre></div>
 </div>
-<p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_laser_status<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
 </li>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ldp_enable</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_ldp_status</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ldp_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -706,13 +705,16 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </section>
 <section id="id12">
 <h2><span class="section-number">4.2.7. </span>特定设备<a class="headerlink" href="#id12" title="链接到此标题。"></a></h2>
-<p><strong>Gemini 435L</strong></p>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/write_customer_data</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/read_customer_data</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/write_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">&#39;{data: &quot;string&quot;}&#39;</span>
 ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/read_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/GetString<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>支持模组</strong>：Gemini 435Le。
+<strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
+</div></blockquote>
 </li>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_user_calib_params</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_user_calib_params</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/SetUserCalibParams<span class="w"> </span><span class="se">\</span>
@@ -734,20 +736,29 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/GetUserCalibParams<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>支持模组</strong>：Gemini 435Le。
+<strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
+</div></blockquote>
 </li>
-</ul>
-<p><strong>Gemini 305</strong></p>
-<ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ae_mode</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w">  </span><span class="c1"># depthbased or colorbased</span>
 <span class="w">  </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ae_mode<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s2">&quot;data: depthbased&quot;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>支持模组</strong>：Gemini 305。
+<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
+</div></blockquote>
 </li>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_sports_mode</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w">  </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_sports_mode<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s2">&quot;data: true&quot;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>支持模组</strong>：Gemini 305。
+<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
+</div></blockquote>
 </li>
 </ul>
 </section>
@@ -758,11 +769,17 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 8}&#39;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
 </li>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_point_cloud_decimation</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
 </pre></div>
 </div>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
 </li>
 </ul>
 </section>
@@ -780,7 +797,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/4_application_guide/topics.html b/zh/source/camera_devices/4_application_guide/topics.html
index 4bfe2efe..59b42cfb 100644
--- a/zh/source/camera_devices/4_application_guide/topics.html
+++ b/zh/source/camera_devices/4_application_guide/topics.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -544,7 +539,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/advanced_guide.html b/zh/source/camera_devices/5_advanced_guide/advanced_guide.html
index 52072c40..e5a23575 100644
--- a/zh/source/camera_devices/5_advanced_guide/advanced_guide.html
+++ b/zh/source/camera_devices/5_advanced_guide/advanced_guide.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -527,7 +522,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html b/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
index 646fac23..d49e98de 100644
--- a/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
+++ b/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
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-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -463,7 +458,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html b/zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
index 2637bc7c..4843fd90 100644
--- a/zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
+++ b/zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -437,7 +432,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html b/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html
index a0d42fa0..30771fb5 100644
--- a/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html
+++ b/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -455,7 +450,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html b/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
index 4cad74f4..e8378413 100644
--- a/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
+++ b/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -519,7 +514,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html b/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
index 58576cce..2a8c2970 100644
--- a/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
+++ b/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -483,7 +478,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html b/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html
index 02e38376..ccab6316 100644
--- a/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html
+++ b/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -456,7 +451,8 @@
 <h2><span class="section-number">5.3.7.2. </span>set_device_ip 工具<a class="headerlink" href="#set-device-ip" title="链接到此标题。"></a></h2>
 <p><strong><code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code></strong> 可执行文件允许您直接从 ROS 2 配置网络相机的 IP 设置，包括在 DHCP 和静态 IP 之间切换，以及设置子网掩码和网关。这对于快速分配或更新 IP 地址而无需修改启动文件非常有用。</p>
 <blockquote>
-<div><p><strong>注意：<strong>使用 <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> 应用的 IP 设置是</strong>永久性的</strong>，如果设备断电或重启，<strong>不会重置</strong>。</p>
+<div><p><strong>注意：<strong>使用 <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> 应用的 IP 设置是</strong>永久性的</strong>，如果设备断电或重启，<strong>不会重置</strong>。
+<strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
 </div></blockquote>
 <p><strong>示例用法</strong></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>set_device_ip<span class="w"> </span>--ros-args<span class="w"> </span><span class="se">\</span>
@@ -480,7 +476,8 @@
 <h2><span class="section-number">5.3.7.3. </span>强制 IP 功能<a class="headerlink" href="#ip" title="链接到此标题。"></a></h2>
 <p><strong>强制 IP</strong> 功能允许您为网络相机分配<strong>静态 IP 地址</strong>，覆盖 DHCP 设置。当连接多个网络相机时，这非常有用，您需要每个设备具有固定的 IP 以实现可靠的通信。</p>
 <blockquote>
-<div><p><strong>注意：<strong>如果设备断电或重启，强制 IP 配置</strong>将被重置</strong>。您需要在重启后重新应用设置。</p>
+<div><p><strong>注意：<strong>如果设备断电或重启，强制 IP 配置</strong>将被重置</strong>。您需要在重启后重新应用设置。
+<strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
 </div></blockquote>
 <p><strong>参数</strong></p>
 <ul class="simple">
@@ -519,7 +516,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html b/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html
index ba9bf2a0..b005cb47 100644
--- a/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html
+++ b/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -564,16 +559,12 @@
 <td>Custom</td>
 <td>自定义修改，例如后处理管道的新配置、深度AE功能的修改</td>
 </tr>
-<tr>
-<td>&gt; 由于 <code>Dual Color Streams</code> 模式的参数配置与 <code>Default</code> 模式差异较大，我们提供了对应的 YAML 配置文件。</td>
-<td></td>
-</tr>
-<tr>
-<td>请将 <code>config_file_path</code> 设置为 <code>gemini305_dual_color</code>，该配置文件位于 config 目录下。</td>
-<td></td>
-</tr>
 </tbody>
-</table></section>
+</table><blockquote>
+<div><p>由于 <code class="docutils literal notranslate"><span class="pre">Dual</span> <span class="pre">Color</span> <span class="pre">Streams</span></code> 模式的参数配置与 <code class="docutils literal notranslate"><span class="pre">Default</span></code> 模式差异较大，我们提供了对应的 YAML 配置文件。
+请将 <code class="docutils literal notranslate"><span class="pre">config_file_path</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">gemini305_dual_color</span></code>，该配置文件位于 config 目录下。</p>
+</div></blockquote>
+</section>
 <section id="id2">
 <h2><span class="section-number">5.3.6.6. </span>扩展预设<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <section id="g33x-close-range-high-accuracy-gemini-330-gemini-335-gemini-336">
@@ -627,7 +618,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html
index 2541c78b..2743a21c 100644
--- a/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html
+++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -489,7 +484,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html
index 350d4bf0..da954809 100644
--- a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html
+++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -518,7 +513,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html
index 08e2d70d..ab9b42b9 100644
--- a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html
+++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -506,7 +501,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
index dc4d38c6..e5fec8af 100644
--- a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
+++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -417,6 +412,9 @@
 <p>文件路径：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp">image_sync_example_node.cpp</a></p>
 <p>此示例节点用于 <strong>4 台 Orbbec 相机</strong> 的同步采集与时间戳验证。
 它可用于验证多相机主从同步（Primary / Secondary Synced）模式下的帧对齐精度。</p>
+<blockquote>
+<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
+</div></blockquote>
 <hr class="docutils" />
 <section id="id2">
 <h2><span class="section-number">5.2.3.1. </span>使用教程<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
@@ -580,7 +578,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html b/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
index e0ecda09..016a9a0b 100644
--- a/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
+++ b/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -460,7 +455,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html b/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html
index 63da62f1..7aaa7a3b 100644
--- a/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html
+++ b/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -557,7 +552,7 @@ net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html b/zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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diff --git a/zh/source/camera_devices/6_benchmark/benchmark.html b/zh/source/camera_devices/6_benchmark/benchmark.html
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-<li class="toctree-l5"><a class="reference internal" href="othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
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 <h1><span class="section-number">6. </span>性能基准测试<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
-<p>本章介绍如何使用性能基准测试工具，并提供不同相机的测试结果。</p>
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-<li class="toctree-l2"><a class="reference internal" href="othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a></li>
+<li class="toctree-l1"><a class="reference internal" href="othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a></li>
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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-    <link rel="search" title="搜索" href="../../../search.html" />
-    <link rel="next" title="6.4. 其他工具" href="othertools.html" />
-    <link rel="prev" title="6.2. 性能基准测试使用" href="benchmark_usage.html" /> 
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-<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. 概述</a><ul>
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-<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id12">4.2.7. 特定设备</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id13">4.2.8. 点云下采样</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 对齐深度到彩色</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id3">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 设备预设</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-330-gemini-330l-gemini-335-gemini-335l">5.3.6.1. Gemini 330 / Gemini 330L / Gemini 335 / Gemini 335L</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-336-gemini-336l">5.3.6.2. Gemini 336 / Gemini 336L</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-2">5.3.6.3. Gemini 2</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-2l">5.3.6.4. Gemini 2L</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-305">5.3.6.5. Gemini 305</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#id2">5.3.6.6. 扩展预设</a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">6. 性能基准测试</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 如何采集和保存日志</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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-<h1><span class="section-number">6.3. </span>性能基准测试数据<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
-<p>本节记录了使用性能基准测试工具测试不同相机的数据。点击链接下载 xlsx 数据。</p>
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-<h2><span class="section-number">6.3.2. </span>服务基准测试数据<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
-<p>使用默认启动文件分别运行 <code class="docutils literal notranslate"><span class="pre">service_benchmark_node</span></code> 和 <code class="docutils literal notranslate"><span class="pre">service_benchmark_node.py</span></code>。每个服务调用 10 次，并记录数据。</p>
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diff --git a/zh/source/camera_devices/6_benchmark/benchmark_usage.html b/zh/source/camera_devices/6_benchmark/benchmark_usage.html
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@@ -294,17 +294,12 @@
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+<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
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-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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diff --git a/zh/source/camera_devices/6_benchmark/introduction.html b/zh/source/camera_devices/6_benchmark/introduction.html
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+<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
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-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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diff --git a/zh/source/camera_devices/6_benchmark/othertools.html b/zh/source/camera_devices/6_benchmark/othertools.html
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-<li class="toctree-l5"><a class="reference internal" href="#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
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-      <li class="breadcrumb-item active"><span class="section-number">6.4. </span>其他工具</li>
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-<h1><span class="section-number">6.4. </span>其他工具<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
+<h1><span class="section-number">6.3. </span>其他工具<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
 <section id="ob-benchmark">
-<h2><span class="section-number">6.4.1. </span>Ob_benchmark 工具<a class="headerlink" href="#ob-benchmark" title="链接到此标题。"></a></h2>
+<h2><span class="section-number">6.3.1. </span>Ob_benchmark 工具<a class="headerlink" href="#ob-benchmark" title="链接到此标题。"></a></h2>
 <blockquote>
 <div><p>此工具的目标是对各种 OrbbecSDK_ROS2 相机配置的性能进行基准测试。基准测试结果取决于使用的相机和设置。（目前仅适用于 ROS2 Humble）</p>
 </div></blockquote>
 <p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
 <section id="start-benchmark-params-json">
-<h3><span class="section-number">6.4.1.1. </span>工具配置 (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#start-benchmark-params-json" title="链接到此标题。"></a></h3>
+<h3><span class="section-number">6.3.1.1. </span>工具配置 (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#start-benchmark-params-json" title="链接到此标题。"></a></h3>
 <div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
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@@ -447,11 +442,11 @@
 </ul>
 </section>
 <section id="id2">
-<h3><span class="section-number">6.4.1.2. </span>相机配置（启动文件）<a class="headerlink" href="#id2" title="链接到此标题。"></a></h3>
+<h3><span class="section-number">6.3.1.2. </span>相机配置（启动文件）<a class="headerlink" href="#id2" title="链接到此标题。"></a></h3>
 <p>在 launch 文件夹中，有多个 .launch.py 文件（<code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code>、<code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code>、...、<code class="docutils literal notranslate"><span class="pre">ob_benchmark_19.launch.py</span></code>）。每个文件对应不同的相机配置。</p>
 </section>
 <section id="id3">
-<h3><span class="section-number">6.4.1.3. </span>运行 ob_benchmark 工具<a class="headerlink" href="#id3" title="链接到此标题。"></a></h3>
+<h3><span class="section-number">6.3.1.3. </span>运行 ob_benchmark 工具<a class="headerlink" href="#id3" title="链接到此标题。"></a></h3>
 <p>要运行该工具，请使用以下命令：</p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
 ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>ob_benchmark_node
@@ -459,7 +454,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
 </div>
 </section>
 <section id="id4">
-<h3><span class="section-number">6.4.1.4. </span>输出数据文件<a class="headerlink" href="#id4" title="链接到此标题。"></a></h3>
+<h3><span class="section-number">6.3.1.4. </span>输出数据文件<a class="headerlink" href="#id4" title="链接到此标题。"></a></h3>
 <p>输出数据文件将存储在 ob_benchmark 文件夹中，文件名如 <code class="docutils literal notranslate"><span class="pre">0.csv</span></code>、<code class="docutils literal notranslate"><span class="pre">1.csv</span></code>、...、19.csv。例如：</p>
 <ul class="simple">
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@@ -473,7 +468,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
            </div>
           </div>
           <footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
-        <a href="benchmark_data.html" class="btn btn-neutral float-left" title="6.3. 性能基准测试数据" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
+        <a href="benchmark_usage.html" class="btn btn-neutral float-left" title="6.2. 性能基准测试使用" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
         <a href="../7_developer_guide/developer_guide.html" class="btn btn-neutral float-right" title="7. 开发者指南" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
     </div>
 
@@ -481,7 +476,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html b/zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html
index ca3728f9..fefafda3 100644
--- a/zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html
+++ b/zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -463,7 +458,7 @@ bash<span class="w"> </span>.make_deb.sh
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/7_developer_guide/developer_guide.html b/zh/source/camera_devices/7_developer_guide/developer_guide.html
index eda9784a..0bcc43ac 100644
--- a/zh/source/camera_devices/7_developer_guide/developer_guide.html
+++ b/zh/source/camera_devices/7_developer_guide/developer_guide.html
@@ -23,7 +23,7 @@
     <link rel="index" title="索引" href="../../../genindex.html" />
     <link rel="search" title="搜索" href="../../../search.html" />
     <link rel="next" title="7.1. 从 main 分支迁移到开源 v2-main 分支" href="migration_guide.html" />
-    <link rel="prev" title="6.4. 其他工具" href="../6_benchmark/othertools.html" /> 
+    <link rel="prev" title="6.3. 其他工具" href="../6_benchmark/othertools.html" /> 
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 <body class="wy-body-for-nav"> 
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -436,7 +431,7 @@
            </div>
           </div>
           <footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
-        <a href="../6_benchmark/othertools.html" class="btn btn-neutral float-left" title="6.4. 其他工具" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
+        <a href="../6_benchmark/othertools.html" class="btn btn-neutral float-left" title="6.3. 其他工具" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
         <a href="migration_guide.html" class="btn btn-neutral float-right" title="7.1. 从 main 分支迁移到开源 v2-main 分支" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
     </div>
 
@@ -444,7 +439,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/7_developer_guide/migration_guide.html b/zh/source/camera_devices/7_developer_guide/migration_guide.html
index 17c124d6..a36475f3 100644
--- a/zh/source/camera_devices/7_developer_guide/migration_guide.html
+++ b/zh/source/camera_devices/7_developer_guide/migration_guide.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
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diff --git a/zh/source/camera_devices/8_FAQ/FAQ.html b/zh/source/camera_devices/8_FAQ/FAQ.html
index 48606236..0e3c9cf2 100644
--- a/zh/source/camera_devices/8_FAQ/FAQ.html
+++ b/zh/source/camera_devices/8_FAQ/FAQ.html
@@ -294,17 +294,12 @@
 </li>
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
 </ul>
 </li>
 </ul>
@@ -558,7 +553,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/index.html b/zh/source/camera_devices/index.html
index bdefa776..2b6b89a4 100644
--- a/zh/source/camera_devices/index.html
+++ b/zh/source/camera_devices/index.html
@@ -294,17 +294,12 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html">6.3. 其他工具</a><ul>
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-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
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-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
+      <span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
       </span></p>
   </div>