diff --git a/orbbec_camera/SDK/include/libobsensor/ObSensor.h b/orbbec_camera/SDK/include/libobsensor/ObSensor.h
index 0eb17e77..02b4be83 100644
--- a/orbbec_camera/SDK/include/libobsensor/ObSensor.h
+++ b/orbbec_camera/SDK/include/libobsensor/ObSensor.h
@@ -3,8 +3,8 @@
 
 /**
  * \file ObSensor.h
- * \brief This file serves as the C entrance for the OrbbecSDK library.
- *        It includes all necessary header files for OrbbecSDK usage.
+ * \brief This file serves as the C entrance for the SDK library.
+ *        It includes all necessary header files for SDK usage.
  */
 #pragma once
 
diff --git a/orbbec_camera/SDK/include/libobsensor/ObSensor.hpp b/orbbec_camera/SDK/include/libobsensor/ObSensor.hpp
index 23da2ff7..fde4917f 100644
--- a/orbbec_camera/SDK/include/libobsensor/ObSensor.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/ObSensor.hpp
@@ -3,7 +3,7 @@
 
 /**
  * \file ObSensor.hpp
- * \brief This is the main entry point for the OrbbecSDK C++ library.
+ * \brief This is the main entry point for the SDK C++ library.
  *        It includes all necessary header files for using the library.
  */
 #pragma once
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Advanced.h b/orbbec_camera/SDK/include/libobsensor/h/Advanced.h
index f6c81f09..0a7b95f8 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Advanced.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Advanced.h
@@ -20,6 +20,10 @@ OB_EXPORT ob_depth_work_mode ob_device_get_current_depth_work_mode(const ob_devi
 /**
  * @brief Get current depth mode name
  * @brief According the current preset name to return current depth mode name
+ *
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* return the current depth mode name.
  */
 OB_EXPORT const char *ob_device_get_current_depth_work_mode_name(const ob_device *device, ob_error **error);
@@ -58,12 +62,12 @@ OB_EXPORT ob_status ob_device_switch_depth_work_mode_by_name(ob_device *device,
 OB_EXPORT ob_depth_work_mode_list *ob_device_get_depth_work_mode_list(const ob_device *device, ob_error **error);
 
 /**
- * \if English
  * @brief Get the depth work mode count that ob_depth_work_mode_list hold
- * @param[in] work_mode_list data struct contain list of ob_depth_work_mode
- * @param[out] error Pointer to an error object that will be set if an error occurs.
- * @return The total number contained in ob_depth_work_mode_list
  *
+ * @param[in] work_mode_list Data structure containing a list of ob_depth_work_mode
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return The total number contained in ob_depth_work_mode_list
  */
 OB_EXPORT uint32_t ob_depth_work_mode_list_get_count(const ob_depth_work_mode_list *work_mode_list, ob_error **error);
 
@@ -73,8 +77,8 @@ OB_EXPORT uint32_t ob_depth_work_mode_list_get_count(const ob_depth_work_mode_li
  * @param[in] work_mode_list Data structure containing a list of ob_depth_work_mode
  * @param[in] index Index of the target ob_depth_work_mode
  * @param[out] error Pointer to an error object that will be set if an error occurs.
- * @return ob_depth_work_mode
  *
+ * @return ob_depth_work_mode
  */
 OB_EXPORT ob_depth_work_mode ob_depth_work_mode_list_get_item(const ob_depth_work_mode_list *work_mode_list, uint32_t index, ob_error **error);
 
@@ -83,7 +87,6 @@ OB_EXPORT ob_depth_work_mode ob_depth_work_mode_list_get_item(const ob_depth_wor
  *
  * @param[in] work_mode_list Data structure containing a list of ob_depth_work_mode
  * @param[out] error Pointer to an error object that will be set if an error occurs.
- *
  */
 OB_EXPORT void ob_delete_depth_work_mode_list(ob_depth_work_mode_list *work_mode_list, ob_error **error);
 
@@ -91,9 +94,10 @@ OB_EXPORT void ob_delete_depth_work_mode_list(ob_depth_work_mode_list *work_mode
  * @brief Get the current preset name.
  * @brief The preset mean a set of parameters or configurations that can be applied to the device to achieve a specific effect or function.
  *
- * @param device The device object.
- * @param error  Pointer to an error object that will be set if an error occurs.
- * @return  The current preset name, it should be one of the preset names returned by @ref ob_device_get_available_preset_list.
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return The current preset name, it should be one of the preset names returned by @ref ob_device_get_available_preset_list.
  */
 OB_EXPORT const char *ob_device_get_current_preset_name(const ob_device *device, ob_error **error);
 
@@ -102,10 +106,10 @@ OB_EXPORT const char *ob_device_get_current_preset_name(const ob_device *device,
  * @attention After loading the preset, the settings in the preset will set to the device immediately. Therefore, it is recommended to re-read the device
  * settings to update the user program temporarily.
  *
- * @param device The device object.
- * @param preset_name  Pointer to an error object that will be set if an error occurs. The name should be one of the preset names returned by @ref
+ * @param[in] device The device object.
+ * @param[in] preset_name Pointer to an error object that will be set if an error occurs. The name should be one of the preset names returned by @ref
  * ob_device_get_available_preset_list.
- * @param error  Pointer to an error object that will be set if an error occurs.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_device_load_preset(ob_device *device, const char *preset_name, ob_error **error);
 
@@ -114,22 +118,25 @@ OB_EXPORT void ob_device_load_preset(ob_device *device, const char *preset_name,
  * @brief After loading the custom preset, the settings in the custom preset will set to the device immediately.
  * @brief After loading the custom preset, the available preset list will be appended with the custom preset and named as the file name.
  *
- * @param device   The device object.
- * @param json_file_path  The json file path.
- * @param error   Pointer to an error object that will be set if an error occurs.
+ * @param[in] device The device object.
+ * @param[in] json_file_path The json file path.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_device_load_preset_from_json_file(ob_device *device, const char *json_file_path, ob_error **error);
 
 /**
  * @brief Load custom preset from data.
  * @brief After loading the custom preset, the settings in the custom preset will set to the device immediately.
- * @brief After loading the custom preset, the available preset list will be appended with the custom preset and named as the @ref presetName.
+ * @brief After loading the custom preset, the available preset list will be appended with the custom preset and named as the @p presetName.
  *
  * @attention The user should ensure that the custom preset data is adapted to the device and the settings in the data are valid.
  * @attention It is recommended to re-read the device settings to update the user program temporarily after successfully loading the custom preset.
  *
- * @param data The custom preset data.
- * @param size The size of the custom preset data.
+ * @param[in] device The device object.
+ * @param[in] presetName The name of the custome preset.
+ * @param[in] data The custom preset data.
+ * @param[in] size The size of the custom preset data.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_device_load_preset_from_json_data(ob_device *device, const char *presetName, const uint8_t *data, uint32_t size, ob_error **error);
 
@@ -137,22 +144,25 @@ OB_EXPORT void ob_device_load_preset_from_json_data(ob_device *device, const cha
  * @brief Export current settings as a preset json file.
  * @brief After exporting the custom preset, the available preset list will be appended with the custom preset and named as the file name.
  *
- * @param device   The device object.
- * @param json_file_path  The json file path.
- * @param error   Pointer to an error object that will be set if an error occurs.
+ * @param[in] device The device object.
+ * @param[in] json_file_path The json file path.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_device_export_current_settings_as_preset_json_file(ob_device *device, const char *json_file_path, ob_error **error);
 
 /**
  * @brief Export current device settings as a preset json data.
- * @brief After exporting the preset, a new preset named as the @ref presetName will be added to the available preset list.
+ * @brief After exporting the preset, a new preset named as the @p presetName will be added to the available preset list.
  *
  * @attention The memory of the data is allocated by the SDK, and will automatically be released by the SDK.
  * @attention The memory of the data will be reused by the SDK on the next call, so the user should copy the data to a new buffer if it needs to be
  * preserved.
  *
- * @param[out] data return the preset json data.
- * @param[out] dataSize return the size of the preset json data.
+ * @param[in] device The device object.
+ * @param[in] presetName The name of the custome preset.
+ * @param[out] data Return the preset json data.
+ * @param[out] dataSize Return the size of the preset json data.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_device_export_current_settings_as_preset_json_data(ob_device *device, const char *presetName, const uint8_t **data, uint32_t *dataSize,
                                                                      ob_error **error);
@@ -160,54 +170,59 @@ OB_EXPORT void ob_device_export_current_settings_as_preset_json_data(ob_device *
 /**
  * @brief Get the available preset list.
  *
- * @param device The device object.
- * @param error  Pointer to an error object that will be set if an error occurs.
- * @return  The available preset list.
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return The available preset list.
  */
 OB_EXPORT ob_device_preset_list *ob_device_get_available_preset_list(const ob_device *device, ob_error **error);
 
 /**
  * @brief Delete the available preset list.
  *
- * @param preset_list The available preset list.
- * @param error  Pointer to an error object that will be set if an error occurs.
+ * @param[in] preset_list The available preset list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_delete_preset_list(ob_device_preset_list *preset_list, ob_error **error);
 
 /**
  * @brief Get the number of preset in the preset list.
  *
- * @param preset_list The available preset list.
- * @param error  Pointer to an error object that will be set if an error occurs.
- * @return  The number of preset in the preset list.
+ * @param[in] preset_list The available preset list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return The number of preset in the preset list.
  */
 OB_EXPORT uint32_t ob_device_preset_list_get_count(const ob_device_preset_list *preset_list, ob_error **error);
 
 /**
  * @brief Get the name of the preset in the preset list.
  *
- * @param preset_list The available preset list.
- * @param index  The index of the preset in the preset list.
- * @param error  Pointer to an error object that will be set if an error occurs.
- * @return  The name of the preset in the preset list.
+ * @param[in] preset_list The available preset list.
+ * @param[in] index The index of the preset in the preset list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return The name of the preset in the preset list.
  */
 OB_EXPORT const char *ob_device_preset_list_get_name(const ob_device_preset_list *preset_list, uint32_t index, ob_error **error);
 
 /**
  * @brief Check if the preset list has the preset.
  *
- * @param preset_list The available preset list.
- * @param preset_name  The name of the preset.
- * @param error  Pointer to an error object that will be set if an error occurs.
- * @return  Whether the preset list has the preset. If true, the preset list has the preset. If false, the preset list does not have the preset.
+ * @param[in] preset_list The available preset list.
+ * @param[in] preset_name The name of the preset.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return Whether the preset list has the preset. If true, the preset list has the preset. If false, the preset list does not have the preset.
  */
 OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *preset_list, const char *preset_name, ob_error **error);
 
 /**
  * @brief Check if the device supports the frame interleave feature.
  *
- * @param device The device object.
- * @param error  Pointer to an error object that will be set if an error occurs.
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return bool Returns true if the device supports the frame interleave feature.
  */
 OB_EXPORT bool ob_device_is_frame_interleave_supported(const ob_device *device, ob_error **error);
@@ -215,17 +230,18 @@ OB_EXPORT bool ob_device_is_frame_interleave_supported(const ob_device *device,
  *
  * @brief load the frame interleave mode according to frame interleavee name.
  *
- * @param device The device object.
- * @param frame_interleave_name  The name should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
- * @param error  Log error messages.
+ * @param[in] device The device object.
+ * @param[in] frame_interleave_name The name should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_device_load_frame_interleave(ob_device *device, const char *frame_interleave_name, ob_error **error);
 
 /**
  * @brief Get the available frame interleave list.
  *
- * @param device The device object.
- * @param error  Log error messages.
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The available frame interleave list.
  */
 OB_EXPORT ob_device_frame_interleave_list *ob_device_get_available_frame_interleave_list(ob_device *device, ob_error **error);
@@ -233,66 +249,73 @@ OB_EXPORT ob_device_frame_interleave_list *ob_device_get_available_frame_interle
 /**
  * @brief Delete the available frame interleave list.
  *
- * @param frame_interleave_list The available frame interleave list.
- * @param error  Log error messages.
+ * @param[in] frame_interleave_list The available frame interleave list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_delete_frame_interleave_list(ob_device_frame_interleave_list *frame_interleave_list, ob_error **error);
 
 /**
  * @brief Get the number of frame interleave in the frame interleave list.
  *
- * @param frame_interleave_list The available frame interleave list.
- * @param error  Log error messages.
- * @return  The number of frame interleave in the frame interleave list.
+ * @param[in] frame_interleave_list The available frame interleave list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return The number of frame interleave in the frame interleave list.
  */
 OB_EXPORT uint32_t ob_device_frame_interleave_list_get_count(ob_device_frame_interleave_list *frame_interleave_list, ob_error **error);
 
 /**
  * @brief Get the name of frame interleave in the frame interleave list.
  *
- * @param frame_interleave_list The available frame interleave list.
- * @param index  The index of frame interleave in the frame interleave list.
- * @param error  Log error messages.
- * @return  The name of frame interleave in the frame interleave list..
+ * @param[in] frame_interleave_list The available frame interleave list.
+ * @param[in] index The index of frame interleave in the frame interleave list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return The name of frame interleave in the frame interleave list..
  */
 OB_EXPORT const char *ob_device_frame_interleave_list_get_name(ob_device_frame_interleave_list *frame_interleave_list, uint32_t index, ob_error **error);
 
 /**
  * @brief Check if the interleave ae list has the interleave ae.
  *
- * @param frame_interleave_list The available interleave ae list.
- * @param frame_interleave_name  The name of the interleave ae.
- * @param error  Log error messages.
- * @return  Whether the interleave ae list has the interleave ae. If true, the interleave ae list has the interleave ae. If false, the interleave ae list does
+ * @param[in] frame_interleave_list The available interleave ae list.
+ * @param[in] frame_interleave_name The name of the interleave ae.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return Whether the interleave ae list has the interleave ae. If true, the interleave ae list has the interleave ae. If false, the interleave ae list does
  * not have the interleave ae.
  */
 OB_EXPORT bool ob_device_frame_interleave_list_has_frame_interleave(ob_device_frame_interleave_list *frame_interleave_list, const char *frame_interleave_name,
                                                                     ob_error **error);
 
-/* @brief Get the available preset resolution config list.
+/**
+ * @brief Get the available preset resolution config list.
+ *
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  *
- * @param device The device object.
- * @param error  Log error messages.
  * @return The available frame resolution config list.
- *
  */
 OB_EXPORT ob_preset_resolution_config_list *ob_device_get_available_preset_resolution_config_list(ob_device *device, ob_error **error);
 
-/* @brief Get the number of preset resolution in the preset resolution list.
+/**
+ * @brief Get the number of preset resolution in the preset resolution list.
  *
- * @param ob_preset_resolution_config_list The available preset resolution list.
- * @param error  Log error messages.
- * @return  The number of preset resolution in the preset resolution list.
+ * @param[in] ob_preset_resolution_config_list The available preset resolution list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return The number of preset resolution in the preset resolution list.
  */
 OB_EXPORT uint32_t ob_device_preset_resolution_config_get_count(ob_preset_resolution_config_list *ob_preset_resolution_config_list, ob_error **error);
 
 /**
  * @brief Get the preset resolution in the preset resolution list.
  *
- * @param ob_preset_resolution_config_list The available preset resolution list.
- * @param index  The index of preset resolution in the preset resolution list.
- * @param error  Log error messages.
- * @return  The preset resolution in the preset resolution list.
+ * @param[in] ob_preset_resolution_config_list The available preset resolution list.
+ * @param[in] index The index of preset resolution in the preset resolution list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return The preset resolution in the preset resolution list.
  */
 OB_EXPORT OBPresetResolutionConfig ob_device_preset_resolution_config_list_get_item(const ob_preset_resolution_config_list *ob_preset_resolution_config_list,
                                                                                     uint32_t index, ob_error **error);
@@ -300,8 +323,8 @@ OB_EXPORT OBPresetResolutionConfig ob_device_preset_resolution_config_list_get_i
 /**
  * @brief Delete the available preset resolution list.
  *
- * @param frame_interleave_list The available preset resolution list.
- * @param error  Log error messages.
+ * @param[in] ob_preset_resolution_config_list The available preset resolution list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_delete_preset_resolution_config_list(ob_preset_resolution_config_list *ob_preset_resolution_config_list, ob_error **error);
 
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Context.h b/orbbec_camera/SDK/include/libobsensor/h/Context.h
index e423b0aa..0bb036c6 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Context.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Context.h
@@ -19,6 +19,7 @@ extern "C" {
  * @brief Create a context object with the default configuration file
  *
  * @param[out] error Pointer to an error object that will be populated if an error occurs during context creation
+ *
  * @return Pointer to the created context object
  */
 OB_EXPORT ob_context *ob_create_context(ob_error **error);
@@ -28,6 +29,7 @@ OB_EXPORT ob_context *ob_create_context(ob_error **error);
  *
  * @param[in] config_file_path Path to the configuration file. If NULL, the default configuration file will be used.
  * @param[out] error Pointer to an error object that will be populated if an error occurs during context creation
+ *
  * @return Pointer to the created context object
  */
 OB_EXPORT ob_context *ob_create_context_with_config(const char *config_file_path, ob_error **error);
@@ -45,6 +47,7 @@ OB_EXPORT void ob_delete_context(ob_context *context, ob_error **error);
  *
  * @param[in] context Pointer to the context object
  * @param[out] error Pointer to an error object that will be populated if an error occurs during device enumeration
+ *
  * @return Pointer to the device list object
  */
 OB_EXPORT ob_device_list *ob_query_device_list(ob_context *context, ob_error **error);
@@ -67,15 +70,16 @@ OB_EXPORT void ob_enable_net_device_enumeration(ob_context *context, bool enable
  * @brief "Force" a static IP address configuration in a device identified by its MAC Address.
  *
  * @param[in] macAddress MAC address of the network device.
- *                       You can obtain it from @ref DeviceList::uid(), or specify it manually
+ *                       You can obtain it from @ref ob_device_info_get_uid, or specify it manually
  *                       in the format xx:xx:xx:xx:xx:xx, where each xx is a two-digit hexadecimal value.
  * @param[in] config The new IP configuration.
  * @param[out] error Pointer to an error object that will be populated if an error occurs.
+ *
  * @return bool true if the configuration command was processed successfully, false otherwise.
  *
- * @note This applies to all Orbbec GigE Vision devices
+ * @note This applies to all GigE Vision devices
  */
-OB_EXPORT bool ob_force_ip_config(const char *deviceUid, ob_net_ip_config config, ob_error **error);
+OB_EXPORT bool ob_force_ip_config(const char *macAddress, ob_net_ip_config config, ob_error **error);
 
 /**
  * @brief Create a network device object
@@ -84,12 +88,14 @@ OB_EXPORT bool ob_force_ip_config(const char *deviceUid, ob_net_ip_config config
  * @param[in] address IP address of the device
  * @param[in] port Port number of the device
  * @param[out] error Pointer to an error object that will be populated if an error occurs during device creation
+ *
  * @return Pointer to the created device object
  */
 OB_EXPORT ob_device *ob_create_net_device(ob_context *context, const char *address, uint16_t port, ob_error **error);
 
 /**
  * @brief Set a device plug-in callback function
+ *
  * @attention The added and removed device lists returned through the callback interface need to be released manually
  * @attention This function supports multiple callbacks. Each call to this function adds a new callback to an internal list.
  *
@@ -143,12 +149,26 @@ OB_EXPORT void ob_set_logger_severity(ob_log_severity severity, ob_error **error
  * @brief Set the log output to a file
  *
  * @param[in] severity Log level to output to file
- * @param[in] directory Path to the log file output directory. If the path is empty, the existing settings will continue to be used (if the existing
- * configuration is also empty, the log will not be output to the file)
+ * @param[in] directory Path to the log file output directory.
+ *                      If empty, the existing configuration is used;
+ *                      if the existing configuration is also empty,
+ *                      the value from the config file or the default configuration will be used.
  * @param[out] error Pointer to an error object that will be populated if an error occurs during log output setting
+ *
+ * @note Other settings, such as log file name, remain unchanged.
  */
 OB_EXPORT void ob_set_logger_to_file(ob_log_severity severity, const char *directory, ob_error **error);
 
+/**
+ * @brief Set the log file name for file output
+ *
+ * @param[in] file_name Log file name. Must not be empty.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @note Other settings, such as log level and output directory, remain unchanged.
+ */
+OB_EXPORT void ob_set_logger_file_name(const char *file_name, ob_error **error);
+
 /**
  * @brief Set the log callback function
  *
@@ -167,14 +187,28 @@ OB_EXPORT void ob_set_logger_to_callback(ob_log_severity severity, ob_log_callba
  */
 OB_EXPORT void ob_set_logger_to_console(ob_log_severity severity, ob_error **error);
 
+/**
+ * @brief Logs a message with severity, file, function, and line info.
+ *
+ * @param[in] severity Log level, see @ref ob_log_severity for details
+ * @param[in] module The module or component the log belongs to
+ * @param[in] message Message string to log
+ * @param[in] file Source file name, e.g., __FILE__
+ * @param[in] func Function name, e.g., __func__
+ * @param[in] line Line number, e.g., __LINE__
+ * @param[out] error Pointer to an error object that will be populated if an error occurs during log output setting
+ */
+OB_EXPORT void ob_log_external_message(ob_log_severity severity, const char *module, const char *message, const char *file, const char *func, int line,
+                                       ob_error **error);
+
 /**
  * @brief Set the extensions directory
  * @brief The extensions directory is used to search for dynamic libraries that provide additional functionality to the SDK, such as the Frame filters.
  *
  * @attention Should be called before creating the context and pipeline, otherwise the default extensions directory (./extensions) will be used.
  *
- * @param directory Path to the extensions directory. If the path is empty, extensions path will be set to the current working directory.
- * @param error Pointer to an error object that will be populated if an error occurs during extensions directory setting
+ * @param[in] directory Path to the extensions directory. If the path is empty, extensions path will be set to the current working directory.
+ * @param[out] error Pointer to an error object that will be populated if an error occurs during extensions directory setting
  */
 OB_EXPORT void ob_set_extensions_directory(const char *directory, ob_error **error);
 
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Device.h b/orbbec_camera/SDK/include/libobsensor/h/Device.h
index 3b1074ca..8538568c 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Device.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Device.h
@@ -29,6 +29,7 @@ OB_EXPORT void ob_delete_device(ob_device *device, ob_error **error);
  *
  * @param[in] device The device object.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_sensor_list* The list of all sensors.
  */
 OB_EXPORT ob_sensor_list *ob_device_get_sensor_list(const ob_device *device, ob_error **error);
@@ -39,6 +40,7 @@ OB_EXPORT ob_sensor_list *ob_device_get_sensor_list(const ob_device *device, ob_
  * @param[in] device The device object.
  * @param[in] type The type of sensor to get.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_sensor* The acquired sensor.
  */
 OB_EXPORT ob_sensor *ob_device_get_sensor(ob_device *device, ob_sensor_type type, ob_error **error);
@@ -59,6 +61,7 @@ OB_EXPORT void ob_device_set_int_property(ob_device *device, ob_property_id prop
  * @param[in] device The device object.
  * @param[in] property_id The property ID.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return int32_t The property value.
  */
 OB_EXPORT int32_t ob_device_get_int_property(ob_device *device, ob_property_id property_id, ob_error **error);
@@ -69,6 +72,7 @@ OB_EXPORT int32_t ob_device_get_int_property(ob_device *device, ob_property_id p
  * @param[in] device The device object.
  * @param[in] property_id The property id.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The property range.
  */
 OB_EXPORT ob_int_property_range ob_device_get_int_property_range(ob_device *device, ob_property_id property_id, ob_error **error);
@@ -89,6 +93,7 @@ OB_EXPORT void ob_device_set_float_property(ob_device *device, ob_property_id pr
  * @param[in] device The device object.
  * @param[in] property_id The property ID.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return float The property value.
  */
 OB_EXPORT float ob_device_get_float_property(ob_device *device, ob_property_id property_id, ob_error **error);
@@ -99,6 +104,7 @@ OB_EXPORT float ob_device_get_float_property(ob_device *device, ob_property_id p
  * @param[in] device The device object.
  * @param[in] property_id The property id.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The property range.
  */
 OB_EXPORT ob_float_property_range ob_device_get_float_property_range(ob_device *device, ob_property_id property_id, ob_error **error);
@@ -119,6 +125,7 @@ OB_EXPORT void ob_device_set_bool_property(ob_device *device, ob_property_id pro
  * @param[in] device The device object.
  * @param[in] property_id The property ID.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return bool The property value.
  */
 OB_EXPORT bool ob_device_get_bool_property(ob_device *device, ob_property_id property_id, ob_error **error);
@@ -129,6 +136,7 @@ OB_EXPORT bool ob_device_get_bool_property(ob_device *device, ob_property_id pro
  * @param[in] device The device object.
  * @param[in] property_id The property id.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The property range.
  */
 OB_EXPORT ob_bool_property_range ob_device_get_bool_property_range(ob_device *device, ob_property_id property_id, ob_error **error);
@@ -191,6 +199,7 @@ OB_EXPORT void ob_device_read_customer_data(ob_device *device, void *data, uint3
  *
  * @param[in] device The device object.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The number of properties supported by the device.
  */
 OB_EXPORT uint32_t ob_device_get_supported_property_count(const ob_device *device, ob_error **error);
@@ -201,6 +210,7 @@ OB_EXPORT uint32_t ob_device_get_supported_property_count(const ob_device *devic
  * @param[in] device The device object.
  * @param[in] index The property index.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The type of property supported by the device.
  */
 OB_EXPORT ob_property_item ob_device_get_supported_property_item(const ob_device *device, uint32_t index, ob_error **error);
@@ -212,6 +222,7 @@ OB_EXPORT ob_property_item ob_device_get_supported_property_item(const ob_device
  * @param[in] property_id The property id.
  * @param[in] permission The type of permission that needs to be interpreted.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return Whether the property permission is supported.
  */
 OB_EXPORT bool ob_device_is_property_supported(const ob_device *device, ob_property_id property_id, ob_permission_type permission, ob_error **error);
@@ -221,6 +232,7 @@ OB_EXPORT bool ob_device_is_property_supported(const ob_device *device, ob_prope
  *
  * @param[in] device The device object.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return bool Whether the device supports global timestamp.
  */
 OB_EXPORT bool ob_device_is_global_timestamp_supported(const ob_device *device, ob_error **error);
@@ -228,9 +240,9 @@ OB_EXPORT bool ob_device_is_global_timestamp_supported(const ob_device *device,
 /**
  * @brief Enable or disable global timestamp.
  *
- * @param device The device object.
- * @param enable Whether to enable global timestamp.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] device The device object.
+ * @param[in] enable Whether to enable global timestamp.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_device_enable_global_timestamp(ob_device *device, bool enable, ob_error **error);
 
@@ -312,7 +324,7 @@ OB_EXPORT void ob_device_set_state_changed_callback(ob_device *device, ob_device
  *
  * @param[in] device The device object.
  * @param[in] enable Whether to enable the device heartbeat.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_device_enable_heartbeat(ob_device *device, bool enable, ob_error **error);
 
@@ -326,7 +338,7 @@ OB_EXPORT void ob_device_enable_heartbeat(ob_device *device, bool enable, ob_err
  * @param[in] send_data_size The size of the data to be sent to the device.
  * @param[out] receive_data The data received from the device.
  * @param[in,out] receive_data_size Pass in the expected size of the receive data, and return the actual size of the received data.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_device_send_and_receive_data(ob_device *device, const uint8_t *send_data, uint32_t send_data_size, uint8_t *receive_data,
                                                uint32_t *receive_data_size, ob_error **error);
@@ -336,6 +348,7 @@ OB_EXPORT void ob_device_send_and_receive_data(ob_device *device, const uint8_t
  *
  * @param[in] device The device to obtain information from.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_device_info* The device information.
  */
 OB_EXPORT ob_device_info *ob_device_get_device_info(const ob_device *device, ob_error **error);
@@ -353,6 +366,7 @@ OB_EXPORT void ob_delete_device_info(ob_device_info *info, ob_error **error);
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* return the device name
  */
 OB_EXPORT const char *ob_device_info_get_name(const ob_device_info *info, ob_error **error);
@@ -362,6 +376,7 @@ OB_EXPORT const char *ob_device_info_get_name(const ob_device_info *info, ob_err
 
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return int return the device pid
 */
 OB_EXPORT int ob_device_info_get_pid(const ob_device_info *info, ob_error **error);
@@ -371,6 +386,7 @@ OB_EXPORT int ob_device_info_get_pid(const ob_device_info *info, ob_error **erro
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return int return device vid
  */
 OB_EXPORT int ob_device_info_get_vid(const ob_device_info *info, ob_error **error);
@@ -380,6 +396,7 @@ OB_EXPORT int ob_device_info_get_vid(const ob_device_info *info, ob_error **erro
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* return device uid
  */
 OB_EXPORT const char *ob_device_info_get_uid(const ob_device_info *info, ob_error **error);
@@ -389,6 +406,7 @@ OB_EXPORT const char *ob_device_info_get_uid(const ob_device_info *info, ob_erro
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * 
  * @return const char* return device serial number
  */
 OB_EXPORT const char *ob_device_info_get_serial_number(const ob_device_info *info, ob_error **error);
@@ -398,6 +416,7 @@ OB_EXPORT const char *ob_device_info_get_serial_number(const ob_device_info *inf
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * 
  * @return int return the firmware version number
  */
 OB_EXPORT const char *ob_device_info_get_firmware_version(const ob_device_info *info, ob_error **error);
@@ -407,7 +426,8 @@ OB_EXPORT const char *ob_device_info_get_firmware_version(const ob_device_info *
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
- * @return const char* The connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet"
+ *
+ * @return const char* The connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet", "GMSL2"
  */
 OB_EXPORT const char *ob_device_info_get_connection_type(const ob_device_info *info, ob_error **error);
 
@@ -416,8 +436,9 @@ OB_EXPORT const char *ob_device_info_get_connection_type(const ob_device_info *i
  *
  * @attention Only valid for network devices, otherwise it will return "0.0.0.0"
  *
- * @param info Device Information
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] info Device Information
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * 
  * @return const char* The IP address, such as "192.168.1.10"
  */
 OB_EXPORT const char *ob_device_info_get_ip_address(const ob_device_info *info, ob_error **error);
@@ -436,6 +457,7 @@ OB_EXPORT const char *ob_device_info_get_subnet_mask(const ob_device_info *info,
  *
  * @param[in] info Device information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* The gateway address, such as "192.168.1.1"
  */
 OB_EXPORT const char *ob_device_info_get_gateway(const ob_device_info *info, ob_error **error);
@@ -445,6 +467,7 @@ OB_EXPORT const char *ob_device_info_get_gateway(const ob_device_info *info, ob_
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* The hardware version number
  */
 OB_EXPORT const char *ob_device_info_get_hardware_version(const ob_device_info *info, ob_error **error);
@@ -452,9 +475,10 @@ OB_EXPORT const char *ob_device_info_get_hardware_version(const ob_device_info *
 /**
  * @brief Check if the device extension information exists.
  *
- * @param device The device object.
- * @param info_key The key of the device extension information.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] device The device object.
+ * @param[in] info_key The key of the device extension information.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return bool Whether the device extension information exists.
  */
 OB_EXPORT bool ob_device_is_extension_info_exist(const ob_device *device, const char *info_key, ob_error **error);
@@ -466,6 +490,7 @@ OB_EXPORT bool ob_device_is_extension_info_exist(const ob_device *device, const
  * @param[in] device The device object.
  * @param[in] info_key The key of the device extension information.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* The device extension information
  */
 OB_EXPORT const char *ob_device_get_extension_info(const ob_device *device, const char *info_key, ob_error **error);
@@ -475,6 +500,7 @@ OB_EXPORT const char *ob_device_get_extension_info(const ob_device *device, cons
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * 
  * @return const char* The minimum SDK version number supported by the device
  */
 OB_EXPORT const char *ob_device_info_get_supported_min_sdk_version(const ob_device_info *info, ob_error **error);
@@ -484,6 +510,7 @@ OB_EXPORT const char *ob_device_info_get_supported_min_sdk_version(const ob_devi
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * 
  * @return const char* The ASIC name
  */
 OB_EXPORT const char *ob_device_info_get_asicName(const ob_device_info *info, ob_error **error);
@@ -493,6 +520,7 @@ OB_EXPORT const char *ob_device_info_get_asicName(const ob_device_info *info, ob
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * 
  * @return ob_device_type The device type
  */
 OB_EXPORT ob_device_type ob_device_info_get_device_type(const ob_device_info *info, ob_error **error);
@@ -510,6 +538,7 @@ OB_EXPORT void ob_delete_device_list(ob_device_list *list, ob_error **error);
  *
  * @param[in] list Device list object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * 
  * @return uint32_t return the number of devices
  */
 OB_EXPORT uint32_t ob_device_list_get_count(const ob_device_list *list, ob_error **error);
@@ -520,6 +549,7 @@ OB_EXPORT uint32_t ob_device_list_get_count(const ob_device_list *list, ob_error
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * 
  * @return const char* return device name
  */
 OB_EXPORT const char *ob_device_list_get_device_name(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -530,6 +560,7 @@ OB_EXPORT const char *ob_device_list_get_device_name(const ob_device_list *list,
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * 
  * @return int return the device pid
  */
 OB_EXPORT int ob_device_list_get_device_pid(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -540,6 +571,7 @@ OB_EXPORT int ob_device_list_get_device_pid(const ob_device_list *list, uint32_t
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return int return device vid
  */
 OB_EXPORT int ob_device_list_get_device_vid(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -550,6 +582,7 @@ OB_EXPORT int ob_device_list_get_device_vid(const ob_device_list *list, uint32_t
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* return the device uid
  */
 OB_EXPORT const char *ob_device_list_get_device_uid(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -560,6 +593,7 @@ OB_EXPORT const char *ob_device_list_get_device_uid(const ob_device_list *list,
  * @param[in] list Device list object.
  * @param[in] index Device index.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* The device UID.
  */
 OB_EXPORT const char *ob_device_list_get_device_serial_number(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -570,8 +604,9 @@ OB_EXPORT const char *ob_device_list_get_device_serial_number(const ob_device_li
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* returns the device connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2",
- * "Ethernet"
+ * "Ethernet", "GMSL2"
  */
 OB_EXPORT const char *ob_device_list_get_device_connection_type(const ob_device_list *list, uint32_t index, ob_error **error);
 
@@ -580,9 +615,10 @@ OB_EXPORT const char *ob_device_list_get_device_connection_type(const ob_device_
  *
  * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
  *
- * @param list Device list object
- * @param index Device index
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] list Device list object
+ * @param[in] index Device index
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* returns the device ip address, such as "192.168.1.10"
  */
 OB_EXPORT const char *ob_device_list_get_device_ip_address(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -595,6 +631,7 @@ OB_EXPORT const char *ob_device_list_get_device_ip_address(const ob_device_list
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* returns the device subnet mask, such as "255.255.255.0"
  */
 OB_EXPORT const char *ob_device_list_get_device_subnet_mask(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -607,6 +644,7 @@ OB_EXPORT const char *ob_device_list_get_device_subnet_mask(const ob_device_list
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* returns the device gateway, such as "192.168.1.1"
  */
 OB_EXPORT const char *ob_device_list_get_device_gateway(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -616,9 +654,10 @@ OB_EXPORT const char *ob_device_list_get_device_gateway(const ob_device_list *li
  *
  * @attention Only valid for network devices. Returns "0:0:0:0:0:0" for non-network devices.
  *
- * @param list Device list object
- * @param index Device index
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] list Device list object
+ * @param[in] index Device index
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* The MAC address of the host network interface associated with the device.
  */
 OB_EXPORT const char *ob_device_list_get_device_local_mac(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -631,6 +670,7 @@ OB_EXPORT const char *ob_device_list_get_device_local_mac(const ob_device_list *
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* The IP address of the host network interface associated with the device.
  */
 OB_EXPORT const char *ob_device_list_get_device_local_ip(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -643,6 +683,7 @@ OB_EXPORT const char *ob_device_list_get_device_local_ip(const ob_device_list *l
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const uint8_t The subnet length (0~32) of the host network interface associated with the device.
  */
 OB_EXPORT uint8_t ob_device_list_get_device_local_subnet_length(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -655,6 +696,7 @@ OB_EXPORT uint8_t ob_device_list_get_device_local_subnet_length(const ob_device_
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* The gateway of the host network interface associated with the device.
  */
 OB_EXPORT const char *ob_device_list_get_device_local_gateway(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -667,6 +709,7 @@ OB_EXPORT const char *ob_device_list_get_device_local_gateway(const ob_device_li
  * @param[in] list Device list object.
  * @param[in] index The index of the device to create.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_device* The created device.
  *
  */
@@ -680,6 +723,7 @@ OB_EXPORT ob_device *ob_device_list_get_device(const ob_device_list *list, uint3
  * @param[in] list Device list object.
  * @param[in] serial_number The serial number of the device to create.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_device* The created device.
  */
 OB_EXPORT ob_device *ob_device_list_get_device_by_serial_number(const ob_device_list *list, const char *serial_number, ob_error **error);
@@ -696,6 +740,7 @@ OB_EXPORT ob_device *ob_device_list_get_device_by_serial_number(const ob_device_
  * @param[in] list Device list object.
  * @param[in] uid The UID of the device to create.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_device* The created device.
  */
 OB_EXPORT ob_device *ob_device_list_get_device_by_uid(const ob_device_list *list, const char *uid, ob_error **error);
@@ -719,6 +764,7 @@ OB_EXPORT ob_camera_param_list *ob_device_get_calibration_camera_param_list(ob_d
  *
  * @param[in] param_list Camera parameter list
  * @param[out] error Log error messages
+ *
  * @return uint32_t The number of lists
  */
 OB_EXPORT uint32_t ob_camera_param_list_get_count(ob_camera_param_list *param_list, ob_error **error);
@@ -729,6 +775,7 @@ OB_EXPORT uint32_t ob_camera_param_list_get_count(ob_camera_param_list *param_li
  * @param[in] param_list Camera parameter list
  * @param[in] index Parameter index
  * @param[out] error Log error messages
+ *
  * @return ob_camera_param The camera parameters. Since it returns the structure object directly, there is no need to provide a delete interface.
  */
 OB_EXPORT ob_camera_param ob_camera_param_list_get_param(ob_camera_param_list *param_list, uint32_t index, ob_error **error);
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Error.h b/orbbec_camera/SDK/include/libobsensor/h/Error.h
index b9aec31a..79991b6b 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Error.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Error.h
@@ -16,11 +16,12 @@ extern "C" {
 /**
  * @brief Create a new error object.
  *
- * @param status The error status.
- * @param message The error message.
- * @param function The name of the API function that caused the error.
- * @param args The error parameters.
- * @param exception_type The type of exception that caused the error.
+ * @param[in] status The error status.
+ * @param[in] message The error message.
+ * @param[in] function The name of the API function that caused the error.
+ * @param[in] args The error parameters.
+ * @param[in] exception_type The type of exception that caused the error.
+ *
  * @return ob_error* The new error object.
  */
 OB_EXPORT ob_error *ob_create_error(ob_status status, const char *message, const char *function, const char *args, ob_exception_type exception_type);
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Filter.h b/orbbec_camera/SDK/include/libobsensor/h/Filter.h
index 28e45f89..d7186459 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Filter.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Filter.h
@@ -18,16 +18,17 @@ extern "C" {
  *
  * @attention If the filter of the specified name is a private filter, and the creator of the filter have not been activated, the function will return NULL.
  *
- * @param name The name of the filter.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] name The name of the filter.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT ob_filter *ob_create_filter(const char *name, ob_error **error);
 
 /**
  * @brief Get the name of ob_filter
  *
- * @param filter ob_filter object
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] filter ob_filter object
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return char The filter of name
  */
 OB_EXPORT const char *ob_filter_get_name(const ob_filter *filter, ob_error **error);
@@ -36,8 +37,9 @@ OB_EXPORT const char *ob_filter_get_name(const ob_filter *filter, ob_error **err
  * @brief Get the vendor specific code of a filter by filter name.
  * @brief A private filter can define its own vendor specific code for specific purposes.
  *
- * @param name The name of the filter.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] name The name of the filter.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const char* Return the vendor specific code of the filter.
  */
 OB_EXPORT const char *ob_filter_get_vendor_specific_code(const char *name, ob_error **error);
@@ -46,9 +48,9 @@ OB_EXPORT const char *ob_filter_get_vendor_specific_code(const char *name, ob_er
  * @brief Create a private Filter object with activation key.
  * @brief Some private filters require an activation key to be activated, its depends on the vendor of the filter.
  *
- * @param name The name of the filter.
- * @param activation_key The activation key of the filter.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] name The name of the filter.
+ * @param[in] activation_key The activation key of the filter.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  *
  * @return ob_filter* Return the private filter object.
  */
@@ -65,7 +67,8 @@ OB_EXPORT void ob_delete_filter(ob_filter *filter, ob_error **error);
 /**
  * @brief Get config schema of the filter
  * @brief The returned string is a csv format string representing the configuration schema of the filter. The format of the string is:
- *  <parameter_name>, <parameter_type: "int", "float", "bool">, <minimum_value>, <maximum_value>, <value_step>, <default_value>, <parameter_description>
+ *  `<parameter_name>`, `<parameter_type: "int", "float", "bool">`, `<minimum_value>`, `<maximum_value>`, `<value_step>`, `<default_value>`,
+ * `<parameter_description>`
  *
  * @param[in] filter The filter object to get the configuration schema for
  * @param[out] error Pointer to an error object that will be set if an error occurs
@@ -80,8 +83,9 @@ OB_EXPORT const char *ob_filter_get_config_schema(const ob_filter *filter, ob_er
  *
  * @attention The returned list should be deleted by calling @ref ob_delete_filter_config_schema_list when it is no longer needed.
  *
- * @param filter The filter object to get the configuration schema for
- * @param error Pointer to an error object that will be set if an error occurs
+ * @param[in] filter The filter object to get the configuration schema for
+ * @param[out] error Pointer to an error object that will be set if an error occurs
+ *
  * @return ob_filter_config_schema_list* Return the filter config schema list of the filter
  */
 OB_EXPORT ob_filter_config_schema_list *ob_filter_get_config_schema_list(const ob_filter *filter, ob_error **error);
@@ -89,8 +93,8 @@ OB_EXPORT ob_filter_config_schema_list *ob_filter_get_config_schema_list(const o
 /**
  * @brief Delete a list of filter config schema items.
  *
- * @param config_schema_list The list of filter config schema items to delete.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] config_schema_list The list of filter config schema items to delete.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_delete_filter_config_schema_list(ob_filter_config_schema_list *config_schema_list, ob_error **error);
 
@@ -115,6 +119,7 @@ OB_EXPORT void ob_filter_update_config(ob_filter *filter, uint8_t argc, const ch
  * @param[in] filter A filter object.
  * @param[in] config_name config name
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return double The value of the config.
  */
 OB_EXPORT double ob_filter_get_config_value(const ob_filter *filter, const char *config_name, ob_error **error);
@@ -203,6 +208,7 @@ OB_EXPORT void ob_filter_push_frame(ob_filter *filter, const ob_frame *frame, ob
  *
  * @param[in] filter_list  filter list
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t The number of list
  */
 OB_EXPORT uint32_t ob_filter_list_get_count(const ob_filter_list *filter_list, ob_error **error);
@@ -213,6 +219,7 @@ OB_EXPORT uint32_t ob_filter_list_get_count(const ob_filter_list *filter_list, o
  * @param[in] filter_list Filter list
  * @param[in] index  Filter index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_filter The index of ob_filter
  */
 OB_EXPORT ob_filter *ob_filter_list_get_filter(const ob_filter_list *filter_list, uint32_t index, ob_error **error);
@@ -228,8 +235,9 @@ OB_EXPORT void ob_delete_filter_list(ob_filter_list *filter_list, ob_error **err
 /**
  * @brief Get the number of config schema items in the config schema list
  *
- * @param config_schema_list Filter config schema list
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] config_schema_list Filter config schema list
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t The number of config schema items in the filter list
  */
 OB_EXPORT uint32_t ob_filter_config_schema_list_get_count(const ob_filter_config_schema_list *config_schema_list, ob_error **error);
@@ -237,9 +245,9 @@ OB_EXPORT uint32_t ob_filter_config_schema_list_get_count(const ob_filter_config
 /**
  * @brief Get the config schema item by index
  *
- * @param config_schema_list Filter config schema list
- * @param index  Config schema item index
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] config_schema_list Filter config schema list
+ * @param[in] index Config schema item index
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  * @return ob_filter_config_schema_item* The config schema item by index
  */
 OB_EXPORT ob_filter_config_schema_item ob_filter_config_schema_list_get_item(const ob_filter_config_schema_list *config_schema_list, uint32_t index,
@@ -249,9 +257,9 @@ OB_EXPORT ob_filter_config_schema_item ob_filter_config_schema_list_get_item(con
  * @brief Set the align to stream profile for the align filter.
  * @brief It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
  *
- * @param filter A filter object.
- * @param align_to_stream_profile The align target stream profile.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] filter A filter object.
+ * @param[in] align_to_stream_profile The align target stream profile.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_align_filter_set_align_to_stream_profile(ob_filter *filter, const ob_stream_profile *align_to_stream_profile, ob_error **error);
 
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Frame.h b/orbbec_camera/SDK/include/libobsensor/h/Frame.h
index 923e2526..15f87d7c 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Frame.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Frame.h
@@ -20,10 +20,11 @@ extern "C" {
  * @attention The frame object is created with a reference count of 1, and the reference count should be decreased by calling @ref ob_delete_frame() when it is
  * no longer needed.
  *
- * @param frame_type The frame object type.
- * @param format The frame object format.
- * @param data_size The size of the frame object data.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] frame_type The frame object type.
+ * @param[in] format The frame object format.
+ * @param[in] data_size The size of the frame object data.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the frame object.
  */
 OB_EXPORT ob_frame *ob_create_frame(ob_frame_type frame_type, ob_format format, uint32_t data_size, ob_error **error);
@@ -39,6 +40,7 @@ OB_EXPORT ob_frame *ob_create_frame(ob_frame_type frame_type, ob_format format,
  * @param[in] should_copy_data If true, the data of the source frame object will be copied to the new frame object. If false, the new frame object will
  * have a data buffer with random data.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the new frame object.
  */
 OB_EXPORT ob_frame *ob_create_frame_from_other_frame(const ob_frame *other_frame, bool should_copy_data, ob_error **error);
@@ -49,8 +51,9 @@ OB_EXPORT ob_frame *ob_create_frame_from_other_frame(const ob_frame *other_frame
  * @attention The frame object is created with a reference count of 1, and the reference count should be decreased by calling @ref ob_delete_frame() when it is
  * no logger needed.
  *
- * @param stream_profile The stream profile to create the new frame object according to.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] stream_profile The stream profile to create the new frame object according to.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the new frame object.
  */
 OB_EXPORT ob_frame *ob_create_frame_from_stream_profile(const ob_stream_profile *stream_profile, ob_error **error);
@@ -67,6 +70,7 @@ OB_EXPORT ob_frame *ob_create_frame_from_stream_profile(const ob_stream_profile
  * @param[in] height Frame object height.
  * @param[in] stride_bytes Row span in bytes. If 0, the stride is calculated based on the width and format.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return an empty frame object.
  */
 OB_EXPORT ob_frame *ob_create_video_frame(ob_frame_type frame_type, ob_format format, uint32_t width, uint32_t height, uint32_t stride_bytes, ob_error **error);
@@ -85,6 +89,7 @@ OB_EXPORT ob_frame *ob_create_video_frame(ob_frame_type frame_type, ob_format fo
  * @param[in] buffer_destroy_cb Destroy callback, will be called when the frame object is destroyed.
  * @param[in] buffer_destroy_context Destroy context, user-defined context to be passed to the destroy callback.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the frame object.
  */
 OB_EXPORT ob_frame *ob_create_frame_from_buffer(ob_frame_type frame_type, ob_format format, uint8_t *buffer, uint32_t buffer_size,
@@ -107,6 +112,7 @@ OB_EXPORT ob_frame *ob_create_frame_from_buffer(ob_frame_type frame_type, ob_for
  * @param[in] buffer_destroy_cb Destroy callback, user-defined function to destroy the buffer.
  * @param[in] buffer_destroy_context Destroy context, user-defined context to be passed to the destroy callback.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the frame object.
  */
 OB_EXPORT ob_frame *ob_create_video_frame_from_buffer(ob_frame_type frame_type, ob_format format, uint32_t width, uint32_t height, uint32_t stride_bytes,
@@ -161,6 +167,7 @@ OB_EXPORT void ob_frame_copy_info(const ob_frame *src_frame, ob_frame *dst_frame
  *
  * @param[in] frame Frame object
  * @param[out] error Log wrong message
+ *
  * @return uint64_t return the frame index
  */
 OB_EXPORT uint64_t ob_frame_get_index(const ob_frame *frame, ob_error **error);
@@ -170,6 +177,7 @@ OB_EXPORT uint64_t ob_frame_get_index(const ob_frame *frame, ob_error **error);
  *
  * @param[in] frame Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_format return the frame format
  */
 OB_EXPORT ob_format ob_frame_get_format(const ob_frame *frame, ob_error **error);
@@ -179,6 +187,7 @@ OB_EXPORT ob_format ob_frame_get_format(const ob_frame *frame, ob_error **error)
  *
  * @param[in] frame Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame_type return the frame type
  */
 OB_EXPORT ob_frame_type ob_frame_get_type(const ob_frame *frame, ob_error **error);
@@ -190,6 +199,7 @@ OB_EXPORT ob_frame_type ob_frame_get_type(const ob_frame *frame, ob_error **erro
  *
  * @param[in] frame Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint64_t return the frame hardware timestamp in microseconds
  */
 OB_EXPORT uint64_t ob_frame_get_timestamp_us(const ob_frame *frame, ob_error **error);
@@ -209,6 +219,7 @@ OB_EXPORT void ob_frame_set_timestamp_us(ob_frame *frame, uint64_t timestamp_us,
  *
  * @param[in] frame Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint64_t return the frame system timestamp in microseconds
  */
 OB_EXPORT uint64_t ob_frame_get_system_timestamp_us(const ob_frame *frame, ob_error **error);
@@ -216,9 +227,9 @@ OB_EXPORT uint64_t ob_frame_get_system_timestamp_us(const ob_frame *frame, ob_er
 /**
  * @brief Set the system timestamp of the frame in microseconds.
  *
- * @param frame Frame object
- * @param system_timestamp_us frame system timestamp to set in microseconds.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] frame Frame object
+ * @param[in] system_timestamp_us frame system timestamp to set in microseconds.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_frame_set_system_timestamp_us(ob_frame *frame, uint64_t system_timestamp_us, ob_error **error);
 
@@ -234,6 +245,7 @@ OB_EXPORT void ob_frame_set_system_timestamp_us(ob_frame *frame, uint64_t system
  *
  * @param[in] frame Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint64_t The global timestamp of the frame in microseconds.
  */
 OB_EXPORT uint64_t ob_frame_get_global_timestamp_us(const ob_frame *frame, ob_error **error);
@@ -246,6 +258,7 @@ OB_EXPORT uint64_t ob_frame_get_global_timestamp_us(const ob_frame *frame, ob_er
  *
  * @param[in] frame The frame object from which to retrieve the data.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint8_t* Pointer to the frame data buffer.
  */
 OB_EXPORT uint8_t *ob_frame_get_data(const ob_frame *frame, ob_error **error);
@@ -272,6 +285,7 @@ OB_EXPORT void ob_frame_update_data(ob_frame *frame, const uint8_t *data, uint32
  *
  * @param[in] frame Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t return the frame data size
  * If it is point cloud data, it return the number of bytes occupied by all point sets. If you need to find the number of points, you need to divide dataSize
  * by the structure size of the corresponding point type.
@@ -286,6 +300,7 @@ OB_EXPORT uint32_t ob_frame_get_data_size(const ob_frame *frame, ob_error **erro
  *
  * @param[in] frame frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return const uint8_t * return the metadata pointer of the frame
  */
 OB_EXPORT uint8_t *ob_frame_get_metadata(const ob_frame *frame, ob_error **error);
@@ -296,6 +311,7 @@ OB_EXPORT uint8_t *ob_frame_get_metadata(const ob_frame *frame, ob_error **error
  *
  * @param[in] frame frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t return the metadata size of the frame
  */
 OB_EXPORT uint32_t ob_frame_get_metadata_size(const ob_frame *frame, ob_error **error);
@@ -332,6 +348,7 @@ OB_EXPORT bool ob_frame_has_metadata(const ob_frame *frame, ob_frame_metadata_ty
  * @param[in] frame frame object
  * @param[in] type metadata type, refer to @ref ob_frame_metadata_type
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return int64_t return the metadata value of the frame
  */
 OB_EXPORT int64_t ob_frame_get_metadata_value(const ob_frame *frame, ob_frame_metadata_type type, ob_error **error);
@@ -341,8 +358,8 @@ OB_EXPORT int64_t ob_frame_get_metadata_value(const ob_frame *frame, ob_frame_me
  *
  * @attention Require @ref ob_delete_stream_profile() to release the return stream profile.
  *
- * @param frame frame object
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] frame frame object
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  * @return ob_stream_profile* Return the stream profile of the frame, if the frame is not captured by a sensor stream, it will return NULL
  */
 OB_EXPORT ob_stream_profile *ob_frame_get_stream_profile(const ob_frame *frame, ob_error **error);
@@ -350,9 +367,9 @@ OB_EXPORT ob_stream_profile *ob_frame_get_stream_profile(const ob_frame *frame,
 /**
  * @brief Set (override) the stream profile of the frame
  *
- * @param frame frame object
- * @param stream_profile The stream profile to set for the frame.
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] frame frame object
+ * @param[in] stream_profile The stream profile to set for the frame.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_frame_set_stream_profile(ob_frame *frame, const ob_stream_profile *stream_profile, ob_error **error);
 
@@ -363,6 +380,7 @@ OB_EXPORT void ob_frame_set_stream_profile(ob_frame *frame, const ob_stream_prof
  *
  * @param[in] frame frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_sensor* return the sensor of the frame, if the frame is not captured by a sensor or the sensor stream has been destroyed, it will return NULL
  */
 OB_EXPORT ob_sensor *ob_frame_get_sensor(const ob_frame *frame, ob_error **error);
@@ -372,8 +390,9 @@ OB_EXPORT ob_sensor *ob_frame_get_sensor(const ob_frame *frame, ob_error **error
  *
  * @attention Require @ref ob_delete_device() to release the return device.
  *
- * @param frame frame object
+ * @param[in] frame frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_device* return the device of the frame, if the frame is not captured by a sensor stream or the device has been destroyed, it will return NULL
  */
 OB_EXPORT ob_device *ob_frame_get_device(const ob_frame *frame, ob_error **error);
@@ -383,6 +402,7 @@ OB_EXPORT ob_device *ob_frame_get_device(const ob_frame *frame, ob_error **error
  *
  * @param[in] frame Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t return the frame width
  */
 OB_EXPORT uint32_t ob_video_frame_get_width(const ob_frame *frame, ob_error **error);
@@ -392,6 +412,7 @@ OB_EXPORT uint32_t ob_video_frame_get_width(const ob_frame *frame, ob_error **er
  *
  * @param[in] frame Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t return the frame height
  */
 OB_EXPORT uint32_t ob_video_frame_get_height(const ob_frame *frame, ob_error **error);
@@ -402,8 +423,9 @@ OB_EXPORT uint32_t ob_video_frame_get_height(const ob_frame *frame, ob_error **e
  *
  * @attention Always return OB_PIXEL_UNKNOWN for non-depth frame currently if user has not set the pixel type by @ref ob_video_frame_set_pixel_type()
  *
- * @param frame Frame object
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] frame Frame object
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_pixel_type return the pixel format of the frame.
  */
 OB_EXPORT ob_pixel_type ob_video_frame_get_pixel_type(const ob_frame *frame, ob_error **error);
@@ -411,9 +433,9 @@ OB_EXPORT ob_pixel_type ob_video_frame_get_pixel_type(const ob_frame *frame, ob_
 /**
  * @brief Set video frame pixel format
  *
- * @param frame Frame object
- * @param pixel_type the pixel format of the frame
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] frame Frame object
+ * @param[in] pixel_type the pixel format of the frame
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_video_frame_set_pixel_type(ob_frame *frame, ob_pixel_type pixel_type, ob_error **error);
 
@@ -423,6 +445,7 @@ OB_EXPORT void ob_video_frame_set_pixel_type(ob_frame *frame, ob_pixel_type pixe
  *
  * @param[in] frame video frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint8_t return the effective number of pixels in the pixel, or 0 if it is an unsupported format
  */
 OB_EXPORT uint8_t ob_video_frame_get_pixel_available_bit_size(const ob_frame *frame, ob_error **error);
@@ -437,21 +460,13 @@ OB_EXPORT uint8_t ob_video_frame_get_pixel_available_bit_size(const ob_frame *fr
  */
 OB_EXPORT void ob_video_frame_set_pixel_available_bit_size(ob_frame *frame, uint8_t bit_size, ob_error **error);
 
-/**
- * @brief Get the source sensor type of the ir frame (left or right for dual camera)
- *
- * @param frame Frame object
- * @param ob_error Pointer to an error object that will be set if an error occurs.
- * @return ob_sensor_type return the source sensor type of the ir frame
- */
-OB_EXPORT ob_sensor_type ob_ir_frame_get_source_sensor_type(const ob_frame *frame, ob_error **ob_error);
-
 /**
  * @brief Get the value scale of the depth frame. The pixel value of the depth frame is multiplied by the scale to give a depth value in millimeters.
  * For example, if valueScale=0.1 and a certain coordinate pixel value is pixelValue=10000, then the depth value = pixelValue*valueScale = 10000*0.1=1000mm.
  *
  * @param[in] frame Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return float The value scale of the depth frame
  */
 OB_EXPORT float ob_depth_frame_get_value_scale(const ob_frame *frame, ob_error **error);
@@ -473,6 +488,7 @@ OB_EXPORT void ob_depth_frame_set_value_scale(ob_frame *frame, float value_scale
  *
  * @param[in] frame Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return float The coordinate value scale of the points frame
  */
 OB_EXPORT float ob_points_frame_get_coordinate_value_scale(const ob_frame *frame, ob_error **error);
@@ -482,6 +498,7 @@ OB_EXPORT float ob_points_frame_get_coordinate_value_scale(const ob_frame *frame
  *
  * @param[in] frame Accelerometer frame.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_accel_value Return the accelerometer data.
  */
 OB_EXPORT ob_accel_value ob_accel_frame_get_value(const ob_frame *frame, ob_error **error);
@@ -491,6 +508,7 @@ OB_EXPORT ob_accel_value ob_accel_frame_get_value(const ob_frame *frame, ob_erro
  *
  * @param[in] frame Accelerometer frame.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return float Return the temperature value.
  */
 OB_EXPORT float ob_accel_frame_get_temperature(const ob_frame *frame, ob_error **error);
@@ -500,6 +518,7 @@ OB_EXPORT float ob_accel_frame_get_temperature(const ob_frame *frame, ob_error *
  *
  * @param[in] frame Gyroscope frame.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_gyro_value Return the gyroscope data.
  */
 OB_EXPORT ob_gyro_value ob_gyro_frame_get_value(const ob_frame *frame, ob_error **error);
@@ -509,6 +528,7 @@ OB_EXPORT ob_gyro_value ob_gyro_frame_get_value(const ob_frame *frame, ob_error
  *
  * @param[in] frame Gyroscope frame.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return float Return the temperature value.
  */
 OB_EXPORT float ob_gyro_frame_get_temperature(const ob_frame *frame, ob_error **error);
@@ -520,6 +540,7 @@ OB_EXPORT float ob_gyro_frame_get_temperature(const ob_frame *frame, ob_error **
  *
  * @param[in] frameset frameset object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t return the number of frames
  */
 OB_EXPORT uint32_t ob_frameset_get_count(const ob_frame *frameset, ob_error **error);
@@ -531,6 +552,7 @@ OB_EXPORT uint32_t ob_frameset_get_count(const ob_frame *frameset, ob_error **er
  *
  * @param[in] frameset Frameset object.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the depth frame.
  */
 OB_EXPORT ob_frame *ob_frameset_get_depth_frame(const ob_frame *frameset, ob_error **error);
@@ -542,6 +564,7 @@ OB_EXPORT ob_frame *ob_frameset_get_depth_frame(const ob_frame *frameset, ob_err
  *
  * @param[in] frameset Frameset object.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the color frame.
  */
 OB_EXPORT ob_frame *ob_frameset_get_color_frame(const ob_frame *frameset, ob_error **error);
@@ -553,6 +576,7 @@ OB_EXPORT ob_frame *ob_frameset_get_color_frame(const ob_frame *frameset, ob_err
  *
  * @param[in] frameset Frameset object.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the infrared frame.
  */
 OB_EXPORT ob_frame *ob_frameset_get_ir_frame(const ob_frame *frameset, ob_error **error);
@@ -564,6 +588,7 @@ OB_EXPORT ob_frame *ob_frameset_get_ir_frame(const ob_frame *frameset, ob_error
  *
  * @param[in] frameset Frameset object.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the point cloud frame.
  */
 OB_EXPORT ob_frame *ob_frameset_get_points_frame(const ob_frame *frameset, ob_error **error);
@@ -576,6 +601,7 @@ OB_EXPORT ob_frame *ob_frameset_get_points_frame(const ob_frame *frameset, ob_er
  * @param[in] frameset Frameset object.
  * @param[in] frame_type Frame type.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the frame of the specified type, or nullptr if it does not exist.
  */
 OB_EXPORT ob_frame *ob_frameset_get_frame(const ob_frame *frameset, ob_frame_type frame_type, ob_error **error);
@@ -586,6 +612,7 @@ OB_EXPORT ob_frame *ob_frameset_get_frame(const ob_frame *frameset, ob_frame_typ
  * @param[in] frameset Frameset object.
  * @param[in] index The index of the frame.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* Return the frame at the specified index, or nullptr if it does not exist.
  */
 OB_EXPORT ob_frame *ob_frameset_get_frame_by_index(const ob_frame *frameset, uint32_t index, ob_error **error);
@@ -608,6 +635,7 @@ OB_EXPORT void ob_frameset_push_frame(ob_frame *frameset, const ob_frame *frame,
  *
  * @param[in] frame point cloud Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t return the point cloud frame width
  */
 OB_EXPORT uint32_t ob_point_cloud_frame_get_width(const ob_frame *frame, ob_error **error);
@@ -617,6 +645,7 @@ OB_EXPORT uint32_t ob_point_cloud_frame_get_width(const ob_frame *frame, ob_erro
  *
  * @param[in] frame point cloud Frame object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t return the point cloud frame height
  */
 OB_EXPORT uint32_t ob_point_cloud_frame_get_height(const ob_frame *frame, ob_error **error);
diff --git a/orbbec_camera/SDK/include/libobsensor/h/MultipleDevices.h b/orbbec_camera/SDK/include/libobsensor/h/MultipleDevices.h
index adb09478..0ea2e4e1 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/MultipleDevices.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/MultipleDevices.h
@@ -34,6 +34,7 @@ extern "C" {
  * ```
  * @param[in] device The device handle.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint16_t return the supported multi device sync mode bitmap of the device.
  */
 OB_EXPORT uint16_t ob_device_get_supported_multi_device_sync_mode_bitmap(const ob_device *device, ob_error **error);
@@ -52,6 +53,7 @@ OB_EXPORT void ob_device_set_multi_device_sync_config(ob_device *device, const o
  *
  * @param[in] device The device handle.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_multi_device_sync_config return the multi device sync configuration of the device.
  */
 OB_EXPORT ob_multi_device_sync_config ob_device_get_multi_device_sync_config(const ob_device *device, ob_error **error);
@@ -61,7 +63,7 @@ OB_EXPORT ob_multi_device_sync_config ob_device_get_multi_device_sync_config(con
  * @brief The device will start one time capture after receiving the capture command when it is in the @ref OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING
  *
  * @attention The frequency of the user call this function multiplied by the number of frames per trigger should be less than the frame rate of the stream. The
- * number of frames per trigger can be set by @ref framesPerTrigger.
+ * number of frames per trigger can be set by @ref ob_multi_device_sync_config::framesPerTrigger.
  * @attention For some models, receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling this
  * function should not be too high, please refer to the product manual for the specific supported frequency.
  * @attention If the device is not in the @ref OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING mode, device will ignore the capture command.
@@ -85,6 +87,7 @@ OB_EXPORT void ob_device_set_timestamp_reset_config(ob_device *device, const ob_
  *
  * @param[in] device The device handle.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_device_timestamp_reset_config return the timestamp reset configuration of the device.
  */
 OB_EXPORT ob_device_timestamp_reset_config ob_device_get_timestamp_reset_config(ob_device *device, ob_error **error);
diff --git a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
index ed4440bf..aa166121 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
@@ -269,6 +269,8 @@ typedef enum {
     ERR_MISMATCH              = -9,  /**< Mismatch firmware error */
     ERR_UNSUPPORT_DEV         = -10, /**< Unsupported device error */
     ERR_INVALID_COUNT         = -11, /**< invalid firmware/preset count */
+    ERR_FILE_READ             = -12, /**< Read image file error */
+    ERR_TRANSFER              = -13  /**< Transfer failed */
 } OBUpgradeState,
     OBFwUpdateState, ob_upgrade_state, ob_fw_update_state;
 
@@ -1253,8 +1255,8 @@ typedef enum {
      * @brief primary mode
      * @brief The device is the primary device in the multi-device system, it will output the trigger signal via VSYNC_OUT pin on synchronization port by
      * default.
-     * @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref colorDelayUs, @ref
-     * depthDelayUs or @ref trigger2ImageDelayUs.
+     * @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref
+     * OBMultiDeviceSyncConfig::colorDelayUs, @ref OBMultiDeviceSyncConfig::depthDelayUs or @ref OBMultiDeviceSyncConfig::trigger2ImageDelayUs.
      */
     OB_MULTI_DEVICE_SYNC_MODE_PRIMARY = 1 << 2,
 
@@ -1262,8 +1264,8 @@ typedef enum {
      * @brief secondary mode
      * @brief The device is the secondary device in the multi-device system, it will receive the trigger signal via VSYNC_IN pin on synchronization port. It
      * will out the trigger signal via VSYNC_OUT pin on synchronization port by default.
-     * @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref colorDelayUs, @ref
-     * depthDelayUs or @ref trigger2ImageDelayUs.
+     * @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref
+     * OBMultiDeviceSyncConfig::colorDelayUs, @ref OBMultiDeviceSyncConfig::depthDelayUs or @ref OBMultiDeviceSyncConfig::trigger2ImageDelayUs.
      * @brief After starting the stream, the device will wait for the trigger signal to start capturing images, and will stop capturing images when the trigger
      * signal is stopped.
      *
@@ -1275,8 +1277,8 @@ typedef enum {
      * @brief secondary synced mode
      * @brief The device is the secondary device in the multi-device system, it will receive the trigger signal via VSYNC_IN pin on synchronization port. It
      * will out the trigger signal via VSYNC_OUT pin on synchronization port by default.
-     * @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref colorDelayUs, @ref
-     * depthDelayUs or @ref trigger2ImageDelayUs.
+     * @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref
+     * OBMultiDeviceSyncConfig::colorDelayUs, @ref OBMultiDeviceSyncConfig::depthDelayUs or @ref OBMultiDeviceSyncConfig::trigger2ImageDelayUs.
      * @brief After starting the stream, the device will be immediately start capturing images, and will adjust the capture time when the trigger signal is
      * received to synchronize with the primary device. If the trigger signal is stopped, the device will still capture images.
      *
@@ -1288,9 +1290,9 @@ typedef enum {
      * @brief software triggering mode
      * @brief The device will start one time image capture after receiving the capture command and will output the trigger signal via VSYNC_OUT pin by default.
      * The capture command can be sent form host by call @ref ob_device_trigger_capture. The number of images captured each time can be set by @ref
-     * framesPerTrigger.
-     * @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref colorDelayUs, @ref
-     * depthDelayUs or @ref trigger2ImageDelayUs.
+     * OBMultiDeviceSyncConfig::framesPerTrigger.
+     * @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref
+     * OBMultiDeviceSyncConfig::colorDelayUs, @ref OBMultiDeviceSyncConfig::depthDelayUs or @ref OBMultiDeviceSyncConfig::trigger2ImageDelayUs.
      *
      * @brief The frequency of the user call @ref ob_device_trigger_capture to send the capture command multiplied by the number of frames per trigger should be
      * less than the frame rate of the stream profile which is set when starting the stream.
@@ -1300,9 +1302,9 @@ typedef enum {
     /**
      * @brief hardware triggering mode
      * @brief The device will start one time image capture after receiving the trigger signal via VSYNC_IN pin on synchronization port and will output the
-     * trigger signal via VSYNC_OUT pin by default. The number of images captured each time can be set by @ref framesPerTrigger.
-     * @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref colorDelayUs, @ref
-     * depthDelayUs or @ref trigger2ImageDelayUs.
+     * trigger signal via VSYNC_OUT pin by default. The number of images captured each time can be set by @ref OBMultiDeviceSyncConfig::framesPerTrigger.
+     * @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref
+     * OBMultiDeviceSyncConfig::colorDelayUs, @ref OBMultiDeviceSyncConfig::depthDelayUs or @ref OBMultiDeviceSyncConfig::trigger2ImageDelayUs.
      *
      * @attention The frequency of the trigger signal multiplied by the number of frames per trigger should be less than the frame rate of the stream profile
      * which is set when starting the stream.
@@ -1753,64 +1755,64 @@ typedef enum {
 /**
  * @brief Callback for file transfer
  *
- * @param state Transmission status
- * @param message Transfer status information
- * @param percent Transfer progress percentage
- * @param user_data User-defined data
+ * @param[in] state Transmission status
+ * @param[in] message Transfer status information
+ * @param[in] percent Transfer progress percentage
+ * @param[in] user_data User-defined data
  */
 typedef void (*ob_file_send_callback)(ob_file_tran_state state, const char *message, uint8_t percent, void *user_data);
 
 /**
  * @brief Callback for firmware upgrade
  *
- * @param state Upgrade status
- * @param message Upgrade status information
- * @param percent Upgrade progress percentage
- * @param user_data User-defined data
+ * @param[in] state Upgrade status
+ * @param[in] message Upgrade status information
+ * @param[in] percent Upgrade progress percentage
+ * @param[in] user_data User-defined data
  */
 typedef void (*ob_device_fw_update_callback)(ob_fw_update_state state, const char *message, uint8_t percent, void *user_data);
 
 /**
  * @brief Callback for device status
  *
- * @param state Device status
- * @param message Device status information
- * @param user_data User-defined data
+ * @param[in] state Device status
+ * @param[in] message Device status information
+ * @param[in] user_data User-defined data
  */
 typedef void (*ob_device_state_callback)(ob_device_state state, const char *message, void *user_data);
 
 /**
  * @brief Callback for writing data
  *
- * @param state Write data status
- * @param percent Write data percentage
- * @param user_data User-defined data
+ * @param[in] state Write data status
+ * @param[in] percent Write data percentage
+ * @param[in] user_data User-defined data
  */
 typedef void (*ob_set_data_callback)(ob_data_tran_state state, uint8_t percent, void *user_data);
 
 /**
  * @brief Callback for reading data
  *
- * @param state Read data status
- * @param dataChunk Read the returned data block
- * @param user_data User-defined data
+ * @param[in] state Read data status
+ * @param[in] dataChunk Read the returned data block
+ * @param[in] user_data User-defined data
  */
 typedef void (*ob_get_data_callback)(ob_data_tran_state state, ob_data_chunk *dataChunk, void *user_data);
 
 /**
  * @brief Callback for media status (recording and playback)
  *
- * @param state Condition
- * @param user_data User-defined data
+ * @param[in] state Condition
+ * @param[in] user_data User-defined data
  */
 typedef void (*ob_media_state_callback)(ob_media_state state, void *user_data);
 
 /**
  * @brief Callback for device change
  *
- * @param removed List of deleted (dropped) devices
- * @param added List of added (online) devices
- * @param user_data User-defined data
+ * @param[in] removed List of deleted (dropped) devices
+ * @param[in] added List of added (online) devices
+ * @param[in] user_data User-defined data
  */
 typedef void (*ob_device_changed_callback)(ob_device_list *removed, ob_device_list *added, void *user_data);
 
@@ -1820,8 +1822,8 @@ typedef void (*ob_device_changed_callback)(ob_device_list *removed, ob_device_li
 /**
  * @brief Callback for frame
  *
- * @param frame Frame object
- * @param user_data User-defined data
+ * @param[in] frame Frame object
+ * @param[in] user_data User-defined data
  */
 typedef void (*ob_frame_callback)(ob_frame *frame, void *user_data);
 #define ob_filter_callback ob_frame_callback
@@ -1830,25 +1832,25 @@ typedef void (*ob_frame_callback)(ob_frame *frame, void *user_data);
 /**
  * @brief Callback for frameset
  *
- * @param frameset Frameset object
- * @param user_data User-defined data
+ * @param[in] frameset Frameset object
+ * @param[in] user_data User-defined data
  */
 typedef void (*ob_frameset_callback)(ob_frame *frameset, void *user_data);
 
 /**
  * @brief Customize the delete callback
  *
- * @param buffer Data that needs to be deleted
- * @param user_data User-defined data
+ * @param[in] buffer Data that needs to be deleted
+ * @param[in] user_data User-defined data
  */
 typedef void(ob_frame_destroy_callback)(uint8_t *buffer, void *user_data);
 
 /**
  * @brief Callback for receiving log
  *
- * @param severity Current log level
- * @param message Log message
- * @param user_data User-defined data
+ * @param[in] severity Current log level
+ * @param[in] message Log message
+ * @param[in] user_data User-defined data
  */
 typedef void(ob_log_callback)(ob_log_severity severity, const char *message, void *user_data);
 
@@ -1856,7 +1858,7 @@ typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, v
 /**
  * @brief Check if the sensor_type is a video sensor
  *
- * @param sensor_type Sensor type to check
+ * @param[in] sensor_type Sensor type to check
  * @return True if sensor_type is a video sensor, false otherwise
  */
 #define ob_is_video_sensor_type(sensor_type)                                                                                             \
@@ -1866,7 +1868,7 @@ typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, v
 /**
  * @brief check if the stream_type is a video stream
  *
- * @param stream_type Stream type to check
+ * @param[in] stream_type Stream type to check
  * @return True if stream_type is a video stream, false otherwise
  */
 #define ob_is_video_stream_type(stream_type)                                                                                             \
@@ -1876,7 +1878,7 @@ typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, v
 /**
  * @brief Check if sensor_type is an IR sensor
  *
- * @param sensor_type Sensor type to check
+ * @param[in] sensor_type Sensor type to check
  * @return True if sensor_type is an IR sensor, false otherwise
  */
 #define is_ir_sensor(sensor_type) (sensor_type == OB_SENSOR_IR || sensor_type == OB_SENSOR_IR_LEFT || sensor_type == OB_SENSOR_IR_RIGHT)
@@ -1885,7 +1887,7 @@ typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, v
 /**
  * @brief Check if stream_type is an IR stream
  *
- * @param stream_type Stream type to check
+ * @param[in] stream_type Stream type to check
  * @return True if stream_type is an IR stream, false otherwise
  */
 #define is_ir_stream(stream_type) (stream_type == OB_STREAM_IR || stream_type == OB_STREAM_IR_LEFT || stream_type == OB_STREAM_IR_RIGHT)
@@ -1894,7 +1896,7 @@ typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, v
 /**
  * @brief Check if frame_type is an IR frame
  *
- * @param frame_type Frame type to check
+ * @param[in] frame_type Frame type to check
  * @return True if frame_type is an IR frame, false otherwise
  */
 #define is_ir_frame(frame_type) (frame_type == OB_FRAME_IR || frame_type == OB_FRAME_IR_LEFT || frame_type == OB_FRAME_IR_RIGHT)
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Pipeline.h b/orbbec_camera/SDK/include/libobsensor/h/Pipeline.h
index c670748f..217f2afa 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Pipeline.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Pipeline.h
@@ -19,6 +19,7 @@ extern "C" {
  * @brief Create a pipeline object
  *
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_pipeline* return the pipeline object
  */
 OB_EXPORT ob_pipeline *ob_create_pipeline(ob_error **error);
@@ -28,6 +29,7 @@ OB_EXPORT ob_pipeline *ob_create_pipeline(ob_error **error);
  *
  * @param[in] dev Device object used to create pipeline
  * @param[out] error  Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_pipeline* return the pipeline object
  */
 OB_EXPORT ob_pipeline *ob_create_pipeline_with_device(const ob_device *dev, ob_error **error);
@@ -61,7 +63,7 @@ OB_EXPORT void ob_pipeline_start_with_config(ob_pipeline *pipeline, const ob_con
  * @brief Start the pipeline and set the frame collection data callback
  *
  * @attention After start the pipeline with this interface, the frames will be output to the callback function and cannot be obtained frames by call
- * @ob_pipeline_wait_for_frameset
+ * @ref ob_pipeline_wait_for_frameset
  *
  * @param[in] pipeline pipeline object
  * @param[in] config  Parameters to be configured
@@ -86,6 +88,7 @@ OB_EXPORT void ob_pipeline_stop(ob_pipeline *pipeline, ob_error **error);
  *
  * @param[in] pipeline The pipeline object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_config* The configuration object
  */
 OB_EXPORT ob_config *ob_pipeline_get_config(const ob_pipeline *pipeline, ob_error **error);
@@ -105,6 +108,7 @@ OB_EXPORT void ob_pipeline_switch_config(ob_pipeline *pipeline, ob_config *confi
  * @param[in] pipeline The pipeline object
  * @param[in] timeout_ms The timeout for waiting (in milliseconds)
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_frame* The frameset that was waited for. A frameset is a special frame that can be used to obtain independent frames from the set.
  */
 OB_EXPORT ob_frame *ob_pipeline_wait_for_frameset(ob_pipeline *pipeline, uint32_t timeout_ms, ob_error **error);
@@ -114,6 +118,7 @@ OB_EXPORT ob_frame *ob_pipeline_wait_for_frameset(ob_pipeline *pipeline, uint32_
  *
  * @param[in] pipeline The pipeline object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_device* The device object
  */
 OB_EXPORT ob_device *ob_pipeline_get_device(const ob_pipeline *pipeline, ob_error **error);
@@ -124,6 +129,7 @@ OB_EXPORT ob_device *ob_pipeline_get_device(const ob_pipeline *pipeline, ob_erro
  * @param[in] pipeline The pipeline object
  * @param[in] sensorType The sensor type. The supported sensor types can be obtained through the ob_device_get_sensor_list() interface.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_stream_profile_list* The stream profile list
  */
 OB_EXPORT ob_stream_profile_list *ob_pipeline_get_stream_profile_list(const ob_pipeline *pipeline, ob_sensor_type sensorType, ob_error **error);
@@ -153,6 +159,7 @@ OB_EXPORT void ob_pipeline_disable_frame_sync(ob_pipeline *pipeline, ob_error **
  * @param[in] color_profile The input profile of the color sensor
  * @param[in] align_mode The input align mode
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_stream_profile_list* The list of D2C-enabled depth sensor resolutions
  */
 OB_EXPORT ob_stream_profile_list *ob_get_d2c_depth_profile_list(const ob_pipeline *pipeline, const ob_stream_profile *color_profile, ob_align_mode align_mode,
@@ -162,6 +169,7 @@ OB_EXPORT ob_stream_profile_list *ob_get_d2c_depth_profile_list(const ob_pipelin
  * @brief Create the pipeline configuration
  *
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_config* The configuration object
  */
 OB_EXPORT ob_config *ob_create_config(ob_error **error);
@@ -239,8 +247,9 @@ OB_EXPORT void ob_config_enable_gyro_stream(ob_config *config, ob_gyro_full_scal
 /**
  * @brief  Get the enabled stream profile list in the pipeline configuration
  *
- * @param config The pipeline configuration object
- * @param error Pointer to an error object that will be set if an error occurs.
+ * @param[in] config The pipeline configuration object
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_stream_profile_list* The enabled stream profile list, should be released by @ref ob_delete_stream_profile_list after use
  */
 OB_EXPORT ob_stream_profile_list *ob_config_get_enabled_stream_profile_list(const ob_config *config, ob_error **error);
@@ -298,6 +307,7 @@ OB_EXPORT void ob_config_set_frame_aggregate_output_mode(ob_config *config, ob_f
  *
  * @param[in] pipeline pipeline object
  * @param[out] error Log error messages
+ *
  * @return ob_camera_param The camera internal parameters
  */
 OB_EXPORT ob_camera_param ob_pipeline_get_camera_param(ob_pipeline *pipeline, ob_error **error);
@@ -311,6 +321,7 @@ OB_EXPORT ob_camera_param ob_pipeline_get_camera_param(ob_pipeline *pipeline, ob
  * @param[in] depthWidth depth width
  * @param[in] depthHeight depth height
  * @param[out] error Log error messages
+ *
  * @return ob_camera_param returns camera internal parameters
  */
 OB_EXPORT ob_camera_param ob_pipeline_get_camera_param_with_profile(ob_pipeline *pipeline, uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth,
@@ -322,6 +333,7 @@ OB_EXPORT ob_camera_param ob_pipeline_get_camera_param_with_profile(ob_pipeline
  * @param[in] pipeline pipeline object
  * @param[in] config The pipeline configuration
  * @param[out] error Log error messages
+ *
  * @return ob_calibration_param The calibration parameters
  */
 OB_EXPORT ob_calibration_param ob_pipeline_get_calibration_param(ob_pipeline *pipeline, ob_config *config, ob_error **error);
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Property.h b/orbbec_camera/SDK/include/libobsensor/h/Property.h
index 7600968c..32963963 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Property.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Property.h
@@ -463,6 +463,11 @@ typedef enum {
      */
     OB_PROP_DISP_SEARCH_OFFSET_INT = 196,
 
+     /**
+     * @brief cpu temperature correction . true: calibrate temperature
+     */
+    OB_PROP_CPU_TEMPERATURE_CALIBRATION_BOOL = 199,
+
     /**
      * @brief Repower device (cut off power and power on again)
      *
diff --git a/orbbec_camera/SDK/include/libobsensor/h/RecordPlayback.h b/orbbec_camera/SDK/include/libobsensor/h/RecordPlayback.h
index 7b93ff32..6102c2b1 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/RecordPlayback.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/RecordPlayback.h
@@ -22,6 +22,7 @@ extern "C" {
  * @param[in] file_path The file path to record to.
  * @param[in] compression_enabled Whether to enable compression for the recording.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return A pointer to the newly created recording device, or NULL if an error occurred.
  */
 OB_EXPORT ob_record_device *ob_create_record_device(ob_device *device, const char *file_path, bool compression_enabled, ob_error **error);
@@ -55,6 +56,7 @@ OB_EXPORT void ob_record_device_resume(ob_record_device *recorder, ob_error **er
  *
  * @param[in] file_path The file path to playback from.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return A pointer to the newly created playback device, or NULL if an error occurred.
  */
 OB_EXPORT ob_device *ob_create_playback_device(const char *file_path, ob_error **error);
@@ -98,6 +100,7 @@ OB_EXPORT void ob_playback_device_set_playback_rate(ob_device *player, const flo
  *
  * @param[in] player The playback device to get the status for.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The current playback status of the played data.
  */
 OB_EXPORT ob_playback_status ob_playback_device_get_current_playback_status(ob_device *player, ob_error **error);
@@ -107,6 +110,7 @@ OB_EXPORT ob_playback_status ob_playback_device_get_current_playback_status(ob_d
  *
  * @param[in] player The playback device to set the callback for.
  * @param[in] callback The callback function to receive playback status updates.
+ * @param[in] user_data Pointer to user data that can be passed to and retrieved from the callback function
  * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_playback_device_set_playback_status_changed_callback(ob_device *player, ob_playback_status_changed_callback callback, void *user_data,
@@ -117,6 +121,7 @@ OB_EXPORT void ob_playback_device_set_playback_status_changed_callback(ob_device
  *
  * @param[in] player The playback device to get the position for.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The current playback position of the played data, in milliseconds.
  */
 OB_EXPORT uint64_t ob_playback_device_get_position(ob_device *player, ob_error **error);
@@ -126,6 +131,7 @@ OB_EXPORT uint64_t ob_playback_device_get_position(ob_device *player, ob_error *
  *
  * @param[in] player The playback device to get the duration for.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The duration of the played data, in milliseconds.
  */
 OB_EXPORT uint64_t ob_playback_device_get_duration(ob_device *player, ob_error **error);
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Sensor.h b/orbbec_camera/SDK/include/libobsensor/h/Sensor.h
index b758779a..4e1fc1fd 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Sensor.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Sensor.h
@@ -18,6 +18,7 @@ extern "C" {
  *
  * @param[in] sensor The sensor object.
  * @param[out] error Logs error messages.
+ * 
  * @return The sensor type.
  */
 OB_EXPORT ob_sensor_type ob_sensor_get_type(const ob_sensor *sensor, ob_error **error);
@@ -27,6 +28,7 @@ OB_EXPORT ob_sensor_type ob_sensor_get_type(const ob_sensor *sensor, ob_error **
  *
  * @param[in] sensor The sensor object.
  * @param[out] error Logs error messages.
+ * 
  * @return A list of stream profiles.
  */
 OB_EXPORT ob_stream_profile_list *ob_sensor_get_stream_profile_list(const ob_sensor *sensor, ob_error **error);
@@ -82,6 +84,7 @@ OB_EXPORT ob_filter_list *ob_sensor_create_recommended_filter_list(const ob_sens
  *
  * @param[in] sensor_list The list of sensor objects.
  * @param[out] error Logs error messages.
+ * 
  * @return The number of sensors in the list.
  */
 OB_EXPORT uint32_t ob_sensor_list_get_count(const ob_sensor_list *sensor_list, ob_error **error);
@@ -92,6 +95,7 @@ OB_EXPORT uint32_t ob_sensor_list_get_count(const ob_sensor_list *sensor_list, o
  * @param[in] sensor_list The list of sensor objects.
  * @param[in] index The index of the sensor on the list.
  * @param[out] error Logs error messages.
+ * 
  * @return The sensor type.
  */
 OB_EXPORT ob_sensor_type ob_sensor_list_get_sensor_type(const ob_sensor_list *sensor_list, uint32_t index, ob_error **error);
@@ -102,6 +106,7 @@ OB_EXPORT ob_sensor_type ob_sensor_list_get_sensor_type(const ob_sensor_list *se
  * @param[in] sensor_list The list of sensor objects.
  * @param[in] sensorType The sensor type to be obtained.
  * @param[out] error Logs error messages.
+ * 
  * @return The sensor pointer. If the specified type of sensor does not exist, it will return null.
  */
 OB_EXPORT ob_sensor *ob_sensor_list_get_sensor_by_type(const ob_sensor_list *sensor_list, ob_sensor_type sensorType, ob_error **error);
@@ -112,6 +117,7 @@ OB_EXPORT ob_sensor *ob_sensor_list_get_sensor_by_type(const ob_sensor_list *sen
  * @param[in] sensor_list The list of sensor objects.
  * @param[in] index The index of the sensor on the list.
  * @param[out] error Logs error messages.
+ * 
  * @return The sensor object.
  */
 OB_EXPORT ob_sensor *ob_sensor_list_get_sensor(const ob_sensor_list *sensor_list, uint32_t index, ob_error **error);
diff --git a/orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h b/orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h
index 98e5ad19..28a9d55b 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h
@@ -17,7 +17,10 @@ extern "C" {
 /**
  * @brief Create a stream profile object
  *
+ * @param[in] type Stream type
+ * @param[in] format Stream format
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_stream_profile* return the stream profile object
  */
 OB_EXPORT ob_stream_profile *ob_create_stream_profile(ob_stream_type type, ob_format format, ob_error **error);
@@ -31,6 +34,7 @@ OB_EXPORT ob_stream_profile *ob_create_stream_profile(ob_stream_type type, ob_fo
  * @param[in] height Stream height
  * @param[in] fps Stream frame rate
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_stream_profile* return the video stream profile object
  */
 OB_EXPORT ob_stream_profile *ob_create_video_stream_profile(ob_stream_type type, ob_format format, uint32_t width, uint32_t height, uint32_t fps,
@@ -42,6 +46,7 @@ OB_EXPORT ob_stream_profile *ob_create_video_stream_profile(ob_stream_type type,
  * @param[in] full_scale_range Accel full scale range
  * @param[in] sample_rate Accel sample rate
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_stream_profile* return the accel stream profile object
  */
 OB_EXPORT ob_stream_profile *ob_create_accel_stream_profile(ob_accel_full_scale_range full_scale_range, ob_accel_sample_rate sample_rate, ob_error **error);
@@ -52,6 +57,7 @@ OB_EXPORT ob_stream_profile *ob_create_accel_stream_profile(ob_accel_full_scale_
  * @param[in] full_scale_range Gyro full scale range
  * @param[in] sample_rate Gyro sample rate
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_stream_profile* return the accel stream profile object
  */
 OB_EXPORT ob_stream_profile *ob_create_gyro_stream_profile(ob_gyro_full_scale_range full_scale_range, ob_gyro_sample_rate sample_rate, ob_error **error);
@@ -90,6 +96,7 @@ OB_EXPORT void ob_delete_stream_profile(const ob_stream_profile *profile, ob_err
  *
  * @param[in] profile Stream profile object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_format return the format of the stream
  */
 OB_EXPORT ob_format ob_stream_profile_get_format(const ob_stream_profile *profile, ob_error **error);
@@ -108,6 +115,7 @@ OB_EXPORT void ob_stream_profile_set_format(ob_stream_profile *profile, ob_forma
  *
  * @param[in] profile Stream profile object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_stream_type stream type
  */
 OB_EXPORT ob_stream_type ob_stream_profile_get_type(const ob_stream_profile *profile, ob_error **error);
@@ -127,6 +135,7 @@ OB_EXPORT void ob_stream_profile_set_type(const ob_stream_profile *profile, ob_s
  * @param[in] source Source stream profile
  * @param[in]  target Target stream profile
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_extrinsic The extrinsic
  */
 OB_EXPORT ob_extrinsic ob_stream_profile_get_extrinsic_to(const ob_stream_profile *source, ob_stream_profile *target, ob_error **error);
@@ -145,9 +154,9 @@ OB_EXPORT void ob_stream_profile_set_extrinsic_to(ob_stream_profile *source, con
  * @brief Set the extrinsic for source stream to target stream type
  *
  * @param[in] source Source stream profile
- * @param[in]  type Target stream type
+ * @param[in] type Target stream type
+ * @param[in] extrinsic The extrinsic
  * @param[out] error Pointer to an error object that will be set if an error occurs.
- * @return ob_extrinsic The extrinsic
  */
 OB_EXPORT void ob_stream_profile_set_extrinsic_to_type(ob_stream_profile *source, const ob_stream_type type, ob_extrinsic extrinsic, ob_error **error);
 
@@ -156,6 +165,7 @@ OB_EXPORT void ob_stream_profile_set_extrinsic_to_type(ob_stream_profile *source
  *
  * @param[in] profile Stream profile object
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t return the frame rate of the stream
  */
 OB_EXPORT uint32_t ob_video_stream_profile_get_fps(const ob_stream_profile *profile, ob_error **error);
@@ -165,6 +175,7 @@ OB_EXPORT uint32_t ob_video_stream_profile_get_fps(const ob_stream_profile *prof
  *
  * @param[in] profile Stream profile object , If the profile is not a video stream configuration, an error will be returned
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t return the width of the stream
  */
 OB_EXPORT uint32_t ob_video_stream_profile_get_width(const ob_stream_profile *profile, ob_error **error);
@@ -183,6 +194,7 @@ OB_EXPORT void ob_video_stream_profile_set_width(ob_stream_profile *profile, uin
  *
  * @param[in] profile Stream profile object , If the profile is not a video stream configuration, an error will be returned
  * @param[out] error  Pointer to an error object that will be set if an error occurs.
+ *
  * @return uint32_t return the height of the stream
  */
 OB_EXPORT uint32_t ob_video_stream_profile_get_height(const ob_stream_profile *profile, ob_error **error);
@@ -201,6 +213,7 @@ OB_EXPORT void ob_video_stream_profile_set_height(ob_stream_profile *profile, ui
  *
  * @param[in]  profile Stream profile object
  * @param[out] error   Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_camera_intrinsic Return the intrinsic of the stream
  */
 OB_EXPORT ob_camera_intrinsic ob_video_stream_profile_get_intrinsic(const ob_stream_profile *profile, ob_error **error);
@@ -219,6 +232,7 @@ OB_EXPORT void ob_video_stream_profile_set_intrinsic(ob_stream_profile *profile,
  *
  * @param[in]  profile Stream profile object
  * @param[out] error   Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_camera_distortion Return the distortion of the stream
  */
 OB_EXPORT ob_camera_distortion ob_video_stream_profile_get_distortion(const ob_stream_profile *profile, ob_error **error);
@@ -237,6 +251,7 @@ OB_EXPORT void ob_video_stream_profile_set_distortion(ob_stream_profile *profile
  *
  * @param[in]  profile Stream profile object
  * @param[out] error   Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_disparity_param Return the disparity process param of the stream
  */
 OB_EXPORT ob_disparity_param ob_disparity_based_stream_profile_get_disparity_param(const ob_stream_profile *profile, ob_error **error);
@@ -255,6 +270,7 @@ OB_EXPORT void ob_disparity_based_stream_profile_set_disparity_param(ob_stream_p
  *
  * @param[in] profile Stream profile object. If the profile is not for the accelerometer stream, an error will be returned.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The full-scale range of the accelerometer stream.
  */
 OB_EXPORT ob_accel_full_scale_range ob_accel_stream_profile_get_full_scale_range(const ob_stream_profile *profile, ob_error **error);
@@ -264,6 +280,7 @@ OB_EXPORT ob_accel_full_scale_range ob_accel_stream_profile_get_full_scale_range
  *
  * @param[in] profile Stream profile object. If the profile is not for the accelerometer stream, an error will be returned.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The sampling frequency of the accelerometer frame.
  */
 OB_EXPORT ob_accel_sample_rate ob_accel_stream_profile_get_sample_rate(const ob_stream_profile *profile, ob_error **error);
@@ -273,6 +290,7 @@ OB_EXPORT ob_accel_sample_rate ob_accel_stream_profile_get_sample_rate(const ob_
  *
  * @param[in]  profile Stream profile object. If the profile is not for the accelerometer stream, an error will be returned.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_accel_intrinsic Return the intrinsic of the accelerometer stream.
  */
 OB_EXPORT ob_accel_intrinsic ob_accel_stream_profile_get_intrinsic(const ob_stream_profile *profile, ob_error **error);
@@ -291,6 +309,7 @@ OB_EXPORT void ob_accel_stream_profile_set_intrinsic(ob_stream_profile *profile,
  *
  * @param[in] profile Stream profile object. If the profile is not for the gyroscope stream, an error will be returned.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The full-scale range of the gyroscope stream.
  */
 OB_EXPORT ob_gyro_full_scale_range ob_gyro_stream_profile_get_full_scale_range(const ob_stream_profile *profile, ob_error **error);
@@ -300,6 +319,7 @@ OB_EXPORT ob_gyro_full_scale_range ob_gyro_stream_profile_get_full_scale_range(c
  *
  * @param[in] profile Stream profile object. If the profile is not for the gyroscope stream, an error will be returned.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The sampling frequency of the gyroscope stream.
  */
 OB_EXPORT ob_gyro_sample_rate ob_gyro_stream_profile_get_sample_rate(const ob_stream_profile *profile, ob_error **error);
@@ -309,6 +329,7 @@ OB_EXPORT ob_gyro_sample_rate ob_gyro_stream_profile_get_sample_rate(const ob_st
  *
  * @param[in]  profile Stream profile object. If the profile is not for the gyroscope stream, an error will be returned.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return ob_gyro_intrinsic Return the intrinsic of the gyroscope stream.
  */
 OB_EXPORT ob_gyro_intrinsic ob_gyro_stream_get_intrinsic(const ob_stream_profile *profile, ob_error **error);
@@ -327,6 +348,7 @@ OB_EXPORT void ob_gyro_stream_set_intrinsic(ob_stream_profile *profile, ob_gyro_
  *
  * @param[in] profile_list StreamProfile list.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The number of StreamProfile lists.
  */
 OB_EXPORT uint32_t ob_stream_profile_list_get_count(const ob_stream_profile_list *profile_list, ob_error **error);
@@ -339,6 +361,7 @@ OB_EXPORT uint32_t ob_stream_profile_list_get_count(const ob_stream_profile_list
  * @param[in] profile_list StreamProfile lists.
  * @param[in] index Index.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The matching profile.
  */
 OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_profile(const ob_stream_profile_list *profile_list, int index, ob_error **error);
@@ -355,6 +378,7 @@ OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_profile(const ob_stream_
  * @param[in] format Format. If you don't need to add matching conditions, you can pass OB_FORMAT_ANY.
  * @param[in] fps Frame rate. If you don't need to add matching conditions, you can pass OB_FPS_ANY.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The matching profile.
  */
 OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_video_stream_profile(const ob_stream_profile_list *profile_list, int width, int height,
@@ -370,6 +394,7 @@ OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_video_stream_profile(con
  * @param[in] full_scale_range Full-scale range. If you don't need to add matching conditions, you can pass 0.
  * @param[in] sample_rate Sample rate. If you don't need to add matching conditions, you can pass 0.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The matching profile.
  */
 OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_accel_stream_profile(const ob_stream_profile_list *profile_list,
@@ -386,6 +411,7 @@ OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_accel_stream_profile(con
  * @param[in] full_scale_range Full-scale range. If you don't need to add matching conditions, you can pass 0.
  * @param[in] sample_rate Sample rate. If you don't need to add matching conditions, you can pass 0.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
  * @return The matching profile.
  */
 OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_gyro_stream_profile(const ob_stream_profile_list *profile_list,
diff --git a/orbbec_camera/SDK/include/libobsensor/h/TypeHelper.h b/orbbec_camera/SDK/include/libobsensor/h/TypeHelper.h
index c71328f1..a95d2d5d 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/TypeHelper.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/TypeHelper.h
@@ -13,6 +13,7 @@ extern "C" {
  * @brief Convert OBFormat to " char* " type and then return.
  *
  * @param[in] type OBFormat type.
+ *
  * @return OBFormat of "char*" type.
  */
 OB_EXPORT const char* ob_format_type_to_string(OBFormat type);
@@ -21,6 +22,7 @@ OB_EXPORT const char* ob_format_type_to_string(OBFormat type);
  * @brief Convert OBFrameType to " char* " type and then return.
  *
  * @param[in] type OBFrameType type.
+ *
  * @return OBFrameType of "char*" type.
  */
 OB_EXPORT const char* ob_frame_type_to_string(OBFrameType type);
@@ -29,6 +31,7 @@ OB_EXPORT const char* ob_frame_type_to_string(OBFrameType type);
  * @brief Convert OBStreamType to " char* " type and then return.
  *
  * @param[in] type OBStreamType type.
+ *
  * @return OBStreamType of "char*" type.
  */
 OB_EXPORT const char* ob_stream_type_to_string(OBStreamType type);
@@ -37,6 +40,7 @@ OB_EXPORT const char* ob_stream_type_to_string(OBStreamType type);
  * @brief Convert OBSensorType to " char* " type and then return.
  *
  * @param[in] type OBSensorType type.
+ *
  * @return OBSensorType of "char*" type.
  */
 OB_EXPORT const char* ob_sensor_type_to_string(OBSensorType type);
@@ -45,6 +49,7 @@ OB_EXPORT const char* ob_sensor_type_to_string(OBSensorType type);
  * @brief Convert OBIMUSampleRate to " char* " type and then return.
  *
  * @param[in] type OBIMUSampleRate type.
+ *
  * @return OBIMUSampleRate of "char*" type.
  */
 OB_EXPORT const char* ob_imu_rate_type_to_string(OBIMUSampleRate type);
@@ -53,6 +58,7 @@ OB_EXPORT const char* ob_imu_rate_type_to_string(OBIMUSampleRate type);
  * @brief Convert OBGyroFullScaleRange to " char* " type and then return.
  *
  * @param[in] type OBGyroFullScaleRange type.
+ *
  * @return OBGyroFullScaleRange of "char*" type.
  */
 OB_EXPORT const char* ob_gyro_range_type_to_string(OBGyroFullScaleRange type);
@@ -61,6 +67,7 @@ OB_EXPORT const char* ob_gyro_range_type_to_string(OBGyroFullScaleRange type);
  * @brief Convert OBAccelFullScaleRange to " char* " type and then return.
  *
  * @param[in] type OBAccelFullScaleRange type.
+ *
  * @return OBAccelFullScaleRange of "char*" type.
  */
 OB_EXPORT const char* ob_accel_range_type_to_string(OBAccelFullScaleRange type);
@@ -69,6 +76,7 @@ OB_EXPORT const char* ob_accel_range_type_to_string(OBAccelFullScaleRange type);
  * @brief Convert OBFrameMetadataType to " char* " type and then return.
  *
  * @param[in] type OBFrameMetadataType type.
+ *
  * @return OBFrameMetadataType of "char*" type.
  */
 OB_EXPORT const char* ob_meta_data_type_to_string(OBFrameMetadataType type);
@@ -77,6 +85,7 @@ OB_EXPORT const char* ob_meta_data_type_to_string(OBFrameMetadataType type);
  * @brief Convert OBStreamType to OBSensorType.
  *
  * @param[in] type The sensor type to convert.
+ *
  * @return OBStreamType The corresponding stream type.
  */
 OB_EXPORT OBStreamType ob_sensor_type_to_stream_type(OBSensorType type);
@@ -84,7 +93,8 @@ OB_EXPORT OBStreamType ob_sensor_type_to_stream_type(OBSensorType type);
 /**
  * @brief Convert OBFormat to " char* " type and then return.
  *
- * @param format The OBFormat to convert.
+ * @param[in] format The OBFormat to convert.
+ *
  * @return The string.
  */
 OB_EXPORT const char *ob_format_to_string(OBFormat format);
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Version.h b/orbbec_camera/SDK/include/libobsensor/h/Version.h
index 874e7df2..c5e3dc8a 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Version.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Version.h
@@ -44,6 +44,7 @@ OB_EXPORT int ob_get_patch_version(void);
 
 /**
  * @brief Get the SDK stage version.
+ *
  * @attention The returned char* does not need to be freed.
  *
  * @return const char* The SDK stage version.
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp
index 6bf33928..9e170df0 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp
@@ -15,6 +15,7 @@
 
 #include <functional>
 #include <memory>
+#include <string>
 
 namespace ob {
 
@@ -28,16 +29,16 @@ public:
     /**
      * @brief Type definition for the device changed callback function.
      *
-     * @param removedList The list of removed devices.
-     * @param addedList The list of added devices.
+     * @param[in] removedList The list of removed devices.
+     * @param[in] addedList The list of added devices.
      */
     typedef std::function<void(std::shared_ptr<DeviceList> removedList, std::shared_ptr<DeviceList> addedList)> DeviceChangedCallback;
 
     /**
      * @brief Type definition for the log output callback function.
      *
-     * @param severity The current callback log level.
-     * @param logMsg The log message.
+     * @param[in] severity The current callback log level.
+     * @param[in] logMsg The log message.
      */
     typedef std::function<void(OBLogSeverity severity, const char *logMsg)> LogCallback;
 
@@ -101,12 +102,12 @@ public:
      * @brief "Force" a static IP address configuration in a device identified by its MAC Address.
      *
      * @param[in] macAddress MAC address of the network device.
-     *                       You can obtain it from @ref DeviceList::uid(), or specify it manually
+     *                       You can obtain it from @ref ob_device_info_get_uid, or specify it manually
      *                       in the format xx:xx:xx:xx:xx:xx, where each xx is a two-digit hexadecimal value.
      * @param[in] config The new IP configuration.
      * @return bool true if the configuration command was processed successfully, false otherwise.
      *
-     * @note This applies to all Orbbec GigE Vision devices
+     * @note This applies to all GigE Vision devices
      */
     bool forceIp(const char *macAddress, const OBNetIpConfig &config) {
         ob_error *error = nullptr;
@@ -133,7 +134,7 @@ public:
      * @brief Set the device plug-in callback function.
      * @attention This function supports multiple callbacks. Each call to this function adds a new callback to an internal list.
      *
-     * @param callback The function triggered when the device is plugged and unplugged.
+     * @param[in] callback The function triggered when the device is plugged and unplugged.
      */
     void setDeviceChangedCallback(DeviceChangedCallback callback) {
         deviceChangedCallback_ = callback;
@@ -145,7 +146,7 @@ public:
     /**
      * @brief Activates device clock synchronization to synchronize the clock of the host and all created devices (if supported).
      *
-     * @param repeatIntervalMsec The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
+     * @param[in] repeatIntervalMsec The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
      */
     void enableDeviceClockSync(uint64_t repeatIntervalMsec) const {
         ob_error *error = nullptr;
@@ -181,7 +182,7 @@ public:
      * @brief Set the level of the global log, which affects both the log level output to the console, output to the file and output the user defined
      * callback.
      *
-     * @param severity The log output level.
+     * @param[in] severity The log output level.
      */
     static void setLoggerSeverity(OBLogSeverity severity) {
         ob_error *error = nullptr;
@@ -192,9 +193,9 @@ public:
     /**
      * @brief Set log output to a file.
      *
-     * @param severity The log level output to the file.
-     * @param directory The log file output path. If the path is empty, the existing settings will continue to be used (if the existing configuration is also
-     * empty, the log will not be output to the file).
+     * @param[in] severity The log level output to the file.
+     * @param[in] directory The log file output path. If the path is empty, the existing settings will continue to be used (if the existing configuration is
+     * also empty, the log will not be output to the file).
      */
     static void setLoggerToFile(OBLogSeverity severity, const char *directory) {
         ob_error *error = nullptr;
@@ -202,10 +203,23 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Set the log file name for file output
+     *
+     * @param[in] fileName Log file name. Must not be empty.
+     *
+     * @note Other settings, such as log level and output directory, remain unchanged.
+     */
+    static void setLoggerFileName(const std::string &fileName) {
+        ob_error *error = nullptr;
+        ob_set_logger_file_name(fileName.c_str(), &error);
+        Error::handle(&error);
+    }
+
     /**
      * @brief Set log output to the console.
      *
-     * @param severity The log level output to the console.
+     * @param[in] severity The log level output to the console.
      */
     static void setLoggerToConsole(OBLogSeverity severity) {
         ob_error *error = nullptr;
@@ -216,8 +230,8 @@ public:
     /**
      * @brief Set the logger to callback.
      *
-     * @param severity The callback log level.
-     * @param callback The callback function.
+     * @param[in] severity The callback log level.
+     * @param[in] callback The callback function.
      */
     static void setLoggerToCallback(OBLogSeverity severity, LogCallback callback) {
         ob_error *error           = nullptr;
@@ -226,13 +240,30 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Logs a message with severity, file, function, and line info.
+     *
+     * @param severity Log level, see @ref OBLogSeverity for details
+     * @param module The module or component the log belongs to
+     * @param message Message string to log
+     * @param file Source file name, e.g., __FILE__
+     * @param func Function name, e.g., __func__
+     * @param line Line number, e.g., __LINE__
+     */
+    static void logExternalMessage(OBLogSeverity severity, const std::string &module, const std::string &message, const std::string &file,
+                                   const std::string &func, int line) {
+        ob_error *error = nullptr;
+        ob_log_external_message(severity, module.c_str(), message.c_str(), file.c_str(), func.c_str(), line, &error);
+        Error::handle(&error);
+    }
+
     /**
      * @brief Set the extensions directory
      * @brief The extensions directory is used to search for dynamic libraries that provide additional functionality to the SDK, such as the Frame filters.
      *
      * @attention Should be called before creating the context and pipeline, otherwise the default extensions directory (./extensions) will be used.
      *
-     * @param directory Path to the extensions directory. If the path is empty, the existing settings will continue to be used (if the existing
+     * @param[in] directory Path to the extensions directory. If the path is empty, the existing settings will continue to be used (if the existing
      */
     static void setExtensionsDirectory(const char *directory) {
         ob_error *error = nullptr;
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp
index a026d536..19e60e55 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp
@@ -37,17 +37,17 @@ public:
     /**
      * @brief Callback function for device firmware update progress
      *
-     * @param state The device firmware update status.
-     * @param message Status information.
-     * @param percent The percentage of the update progress.
+     * @param[in] state The device firmware update status.
+     * @param[in] message Status information.
+     * @param[in] percent The percentage of the update progress.
      */
     typedef std::function<void(OBFwUpdateState state, const char *message, uint8_t percent)> DeviceFwUpdateCallback;
 
     /**
      * @brief Callback function for device status updates.
      *
-     * @param state The device status.
-     * @param message Status information.
+     * @param[in] state The device status.
+     * @param[in] message Status information.
      */
     typedef std::function<void(OBDeviceState state, const char *message)> DeviceStateChangedCallback;
 
@@ -105,7 +105,8 @@ public:
     /**
      * @brief Check if the extension information is exist
      *
-     * @param infoKey The key of the extension information
+     * @param[in] infoKey The key of the extension information
+     *
      * @return bool Whether the extension information exists
      */
     bool isExtensionInfoExist(const std::string &infoKey) const {
@@ -118,7 +119,8 @@ public:
     /**
      * @brief Get information about extensions obtained from SDK supported by the device
      *
-     * @param infoKey The key of the extension information
+     * @param[in] infoKey The key of the extension information
+     *
      * @return const char* Returns extended information about the device
      */
     const char *getExtensionInfo(const std::string &infoKey) const {
@@ -156,8 +158,8 @@ public:
     /**
      * @brief Set int type of device property
      *
-     * @param propertyId Property id
-     * @param value Property value to be set
+     * @param[in] propertyId Property id
+     * @param[in] value Property value to be set
      */
     void setIntProperty(OBPropertyID propertyId, int32_t value) const {
         ob_error *error = nullptr;
@@ -168,8 +170,8 @@ public:
     /**
      * @brief Set float type of device property
      *
-     * @param propertyId Property id
-     * @param value Property value to be set
+     * @param[in] propertyId Property id
+     * @param[in] value Property value to be set
      */
     void setFloatProperty(OBPropertyID propertyId, float value) const {
         ob_error *error = nullptr;
@@ -180,8 +182,8 @@ public:
     /**
      * @brief Set bool type of device property
      *
-     * @param propertyId Property id
-     * @param value Property value to be set
+     * @param[in] propertyId Property id
+     * @param[in] value Property value to be set
      */
     void setBoolProperty(OBPropertyID propertyId, bool value) const {
         ob_error *error = nullptr;
@@ -192,7 +194,8 @@ public:
     /**
      * @brief Get int type of device property
      *
-     * @param propertyId Property id
+     * @param[in] propertyId Property id
+     *
      * @return int32_t Property to get
      */
     int32_t getIntProperty(OBPropertyID propertyId) const {
@@ -205,7 +208,8 @@ public:
     /**
      * @brief Get float type of device property
      *
-     * @param propertyId Property id
+     * @param[in] propertyId Property id
+     *
      * @return float Property to get
      */
     float getFloatProperty(OBPropertyID propertyId) const {
@@ -218,7 +222,8 @@ public:
     /**
      * @brief Get bool type of device property
      *
-     * @param propertyId Property id
+     * @param[in] propertyId Property id
+     *
      * @return bool Property to get
      */
     bool getBoolProperty(OBPropertyID propertyId) const {
@@ -231,7 +236,8 @@ public:
     /**
      * @brief Get int type device property range (including current value and default value)
      *
-     * @param propertyId Property id
+     * @param[in] propertyId Property id
+     *
      * @return OBIntPropertyRange Property range
      */
     OBIntPropertyRange getIntPropertyRange(OBPropertyID propertyId) const {
@@ -244,7 +250,8 @@ public:
     /**
      * @brief Get float type device property range((including current value and default value)
      *
-     * @param propertyId Property id
+     * @param[in] propertyId Property id
+     *
      * @return OBFloatPropertyRange Property range
      */
     OBFloatPropertyRange getFloatPropertyRange(OBPropertyID propertyId) const {
@@ -257,7 +264,8 @@ public:
     /**
      * @brief Get bool type device property range (including current value and default value)
      *
-     * @param propertyId The ID of the property
+     * @param[in] propertyId The ID of the property
+     *
      * @return OBBoolPropertyRange The range of the property
      */
     OBBoolPropertyRange getBoolPropertyRange(OBPropertyID propertyId) const {
@@ -270,9 +278,9 @@ public:
     /**
      * @brief Set the structured data type of a device property
      *
-     * @param propertyId The ID of the property
-     * @param data The data to set
-     * @param dataSize The size of the data to set
+     * @param[in] propertyId The ID of the property
+     * @param[in] data The data to set
+     * @param[in] dataSize The size of the data to set
      */
     void setStructuredData(OBPropertyID propertyId, const uint8_t *data, uint32_t dataSize) const {
         ob_error *error = nullptr;
@@ -283,9 +291,9 @@ public:
     /**
      * @brief Get the structured data type of a device property
      *
-     * @param propertyId The ID of the property
-     * @param data The property data obtained
-     * @param dataSize The size of the data obtained
+     * @param[in] propertyId The ID of the property
+     * @param[out] data The property data obtained
+     * @param[out] dataSize The size of the data obtained
      */
     void getStructuredData(OBPropertyID propertyId, uint8_t *data, uint32_t *dataSize) const {
         ob_error *error = nullptr;
@@ -296,8 +304,8 @@ public:
     /**
      * @brief Set the customer data type of a device property
      *
-     * @param data The data to set
-     * @param dataSize The size of the data to set,the maximum length cannot exceed 65532 bytes.
+     * @param[in] data The data to set
+     * @param[in] dataSize The size of the data to set,the maximum length cannot exceed 65532 bytes.
      */
     void writeCustomerData(const void *data, uint32_t dataSize) {
         ob_error *error = nullptr;
@@ -308,8 +316,8 @@ public:
     /**
      * @brief Get the customer data type of a device property
      *
-     * @param data The property data obtained
-     * @param dataSize The size of the data obtained
+     * @param[in] data The property data obtained
+     * @param[in] dataSize The size of the data obtained
      */
     void readCustomerData(void *data, uint32_t *dataSize) {
         ob_error *error = nullptr;
@@ -332,7 +340,8 @@ public:
     /**
      * @brief Get the supported properties of the device
      *
-     * @param index The index of the property
+     * @param[in] index The index of the property
+     *
      * @return The type of supported property
      */
     OBPropertyItem getSupportedProperty(uint32_t index) const {
@@ -345,8 +354,9 @@ public:
     /**
      * @brief Check if a property permission is supported
      *
-     * @param propertyId The ID of the property
-     * @param permission The read and write permissions to check
+     * @param[in] propertyId The ID of the property
+     * @param[in] permission The read and write permissions to check
+     *
      * @return Whether the property permission is supported
      */
     bool isPropertySupported(OBPropertyID propertyId, OBPermissionType permission) const {
@@ -371,7 +381,7 @@ public:
     /**
      * @brief Enable or disable the global timestamp
      *
-     * @param enable Whether to enable the global timestamp
+     * @param[in] enable Whether to enable the global timestamp
      */
     void enableGlobalTimestamp(bool enable) {
         ob_error *error = nullptr;
@@ -382,9 +392,9 @@ public:
     /**
      * @brief Update the device firmware
      *
-     * @param filePath Firmware path
-     * @param callback Firmware Update progress and status callback
-     * @param async Whether to execute asynchronously
+     * @param[in] filePath Firmware path
+     * @param[in] callback Firmware Update progress and status callback
+     * @param[in] async Whether to execute asynchronously
      */
     void updateFirmware(const char *filePath, DeviceFwUpdateCallback callback, bool async = true) {
         ob_error *error   = nullptr;
@@ -396,10 +406,10 @@ public:
     /**
      * @brief Update the device firmware from data
      *
-     * @param firmwareData Firmware data
-     * @param firmwareDataSize Firmware data size
-     * @param callback Firmware Update progress and status callback
-     * @param async Whether to execute asynchronously
+     * @param[in] firmwareData Firmware data
+     * @param[in] firmwareDataSize Firmware data size
+     * @param[in] callback Firmware Update progress and status callback
+     * @param[in] async Whether to execute asynchronously
      */
     void updateFirmwareFromData(const uint8_t *firmwareData, uint32_t firmwareDataSize, DeviceFwUpdateCallback callback, bool async = true) {
         ob_error *error   = nullptr;
@@ -411,9 +421,9 @@ public:
     /**
      * @brief Update the device optional depth presets
      *
-     * @param filePathList A list(2D array) of preset file paths, each up to OB_PATH_MAX characters.
-     * @param pathCount The number of the preset file paths.
-     * @param callback Preset update progress and status callback
+     * @param[in] filePathList A list(2D array) of preset file paths, each up to OB_PATH_MAX characters.
+     * @param[in] pathCount The number of the preset file paths.
+     * @param[in] callback Preset update progress and status callback
      */
     void updateOptionalDepthPresets(const char filePathList[][OB_PATH_MAX], uint8_t pathCount, DeviceFwUpdateCallback callback) {
         ob_error *error   = nullptr;
@@ -425,7 +435,7 @@ public:
     /**
      * @brief Set the device state changed callbacks
      *
-     * @param callback The callback function that is triggered when the device status changes (for example, the frame rate is automatically reduced or the
+     * @param[in] callback The callback function that is triggered when the device status changes (for example, the frame rate is automatically reduced or the
      * stream is closed due to high temperature, etc.)
      */
     void setDeviceStateChangedCallback(DeviceStateChangedCallback callback) {
@@ -455,6 +465,7 @@ public:
     /**
      * @brief Get current depth mode name
      * @brief According the current preset name to return current depth mode name
+     *
      * @return const char* return the current depth mode name.
      */
     const char *getCurrentDepthModeName() {
@@ -490,6 +501,7 @@ public:
 
     /**
      * @brief Request support depth work mode list
+     *
      * @return OBDepthWorkModeList list of ob_depth_work_mode
      */
     std::shared_ptr<OBDepthWorkModeList> getDepthWorkModeList() const {
@@ -588,7 +600,7 @@ public:
      * OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING
      *
      * @attention The frequency of the user call this function multiplied by the number of frames per trigger should be less than the frame rate of the stream.
-     * The number of frames per trigger can be set by @ref framesPerTrigger.
+     * The number of frames per trigger can be set by @ref OBMultiDeviceSyncConfig::framesPerTrigger.
      * @attention For some models, receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling
      * this function should not be too high, please refer to the product manual for the specific supported frequency.
      * @attention If the device is not in the @ref OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING mode, device will ignore the capture command.
@@ -638,9 +650,11 @@ public:
     }
 
     /**
-     * @brief Alias for @ref timestampReset since it is more accurate.
+     * @brief Alias for @ref timestampReset() since it is more accurate.
      */
-#define timerReset timestampReset
+    inline void timerReset() const {
+        timestampReset();
+    }
 
     /**
      * @brief synchronize the timer of the device with the host.
@@ -662,6 +676,7 @@ public:
     /**
      * @brief Get current preset name
      * @brief The preset mean a set of parameters or configurations that can be applied to the device to achieve a specific effect or function.
+     *
      * @return const char* return the current preset name, it should be one of the preset names returned by @ref getAvailablePresetList.
      */
     const char *getCurrentPresetName() const {
@@ -675,7 +690,7 @@ public:
      * @brief load the preset according to the preset name.
      * @attention After loading the preset, the settings in the preset will set to the device immediately. Therefore, it is recommended to re-read the device
      * settings to update the user program temporarily.
-     * @param presetName The preset name to set. The name should be one of the preset names returned by @ref getAvailablePresetList.
+     * @param[in] presetName The preset name to set. The name should be one of the preset names returned by @ref getAvailablePresetList.
      */
     void loadPreset(const char *presetName) const {
         ob_error *error = nullptr;
@@ -705,7 +720,7 @@ public:
      * @attention The user should ensure that the custom preset file is adapted to the device and the settings in the file are valid.
      * @attention It is recommended to re-read the device settings to update the user program temporarily after successfully loading the custom preset.
      *
-     * @param filePath The path of the custom preset file.
+     * @param[in] filePath The path of the custom preset file.
      */
     void loadPresetFromJsonFile(const char *filePath) const {
         ob_error *error = nullptr;
@@ -716,13 +731,14 @@ public:
     /**
      * @brief Load custom preset from data.
      * @brief After loading the custom preset, the settings in the custom preset will set to the device immediately.
-     * @brief After loading the custom preset, the available preset list will be appended with the custom preset and named as the @ref presetName.
+     * @brief After loading the custom preset, the available preset list will be appended with the custom preset and named as the @p presetName.
      *
      * @attention The user should ensure that the custom preset data is adapted to the device and the settings in the data are valid.
      * @attention It is recommended to re-read the device settings to update the user program temporarily after successfully loading the custom preset.
      *
-     * @param data The custom preset data.
-     * @param size The size of the custom preset data.
+     * @param[in] presetName The name of the custome preset.
+     * @param[in] data The custom preset data.
+     * @param[in] size The size of the custom preset data.
      */
     void loadPresetFromJsonData(const char *presetName, const uint8_t *data, uint32_t size) {
         ob_error *error = nullptr;
@@ -731,12 +747,13 @@ public:
 
     /**
      * @brief Export current device settings as a preset json data.
-     * @brief After exporting the preset, a new preset named as the @ref presetName will be added to the available preset list.
+     * @brief After exporting the preset, a new preset named as the @p presetName will be added to the available preset list.
      *
      * @attention The memory of the data is allocated by the SDK, and will automatically be released by the SDK.
      * @attention The memory of the data will be reused by the SDK on the next call, so the user should copy the data to a new buffer if it needs to be
      * preserved.
      *
+     * @param[in] presetName The name of the custome preset.
      * @param[out] data return the preset json data.
      * @param[out] dataSize return the size of the preset json data.
      */
@@ -748,9 +765,9 @@ public:
     /**
      * @brief Export current device settings as a preset json file.
      * @brief The exported preset file can be loaded by calling @ref loadPresetFromJsonFile to restore the device setting.
-     * @brief After exporting the preset, a new preset named as the @ref filePath will be added to the available preset list.
+     * @brief After exporting the preset, a new preset named as the @p filePath will be added to the available preset list.
      *
-     * @param filePath The path of the preset file to be exported.
+     * @param[in] filePath The path of the preset file to be exported.
      */
     void exportSettingsAsPresetJsonFile(const char *filePath) const {
         ob_error *error = nullptr;
@@ -802,7 +819,7 @@ public:
 
     /**
      * @brief load the frame interleave according to frame interleave name.
-     * @param frameInterleaveName The frame interleave name to set. The name should be one of the frame interleave names returned by @ref
+     * @param[in] frameInterleaveName The frame interleave name to set. The name should be one of the frame interleave names returned by @ref
      * getAvailableFrameInterleaveList.
      */
     void loadFrameInterleave(const char *frameInterleaveName) const {
@@ -1133,7 +1150,8 @@ public:
     /**
      * @brief Get the PID of the device at the specified index
      *
-     * @param index the index of the device
+     * @param[in] index the index of the device
+     *
      * @return int the PID of the device
      */
     int getPid(uint32_t index) const {
@@ -1146,7 +1164,8 @@ public:
     /**
      * @brief Get the VID of the device at the specified index
      *
-     * @param index the index of the device
+     * @param[in] index the index of the device
+     *
      * @return int the VID of the device
      */
     int getVid(uint32_t index) const {
@@ -1159,7 +1178,8 @@ public:
     /**
      * @brief Get the UID of the device at the specified index
      *
-     * @param index the index of the device
+     * @param[in] index the index of the device
+     *
      * @return const char* the UID of the device
      */
     const char *getUid(uint32_t index) const {
@@ -1172,7 +1192,8 @@ public:
     /**
      * @brief Get the serial number of the device at the specified index
      *
-     * @param index the index of the device
+     * @param[in] index the index of the device
+     *
      * @return const char* the serial number of the device
      */
     const char *getSerialNumber(uint32_t index) const {
@@ -1188,7 +1209,8 @@ public:
      * This function retrieves the name of the device at the given index in the device list.
      * If an error occurs during the operation, it will be handled by the Error::handle function.
      *
-     * @param index The index of the device in the device list.
+     * @param[in] index The index of the device in the device list.
+     *
      * @return const char* The name of the device at the specified index.
      */
     const char *getName(uint32_t index) const {
@@ -1201,8 +1223,10 @@ public:
     /**
      * @brief Get device connection type
      *
-     * @param index device index
-     * @return const char* returns connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet"
+     * @param[in] index device index
+     *
+     * @return const char* returns connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet",
+     * "GMSL2"
      */
     const char *getConnectionType(uint32_t index) const {
         ob_error *error = nullptr;
@@ -1216,7 +1240,8 @@ public:
      *
      * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
      *
-     * @param index the index of the device
+     * @param[in] index the index of the device
+     *
      * @return const char* the ip address of the device
      */
     const char *getIpAddress(uint32_t index) const {
@@ -1231,7 +1256,8 @@ public:
      *
      * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
      *
-     * @param index the index of the device
+     * @param[in] index the index of the device
+     *
      * @return const char* the subnet mask of the device
      */
     const char *getSubnetMask(uint32_t index) const {
@@ -1246,7 +1272,8 @@ public:
      *
      * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
      *
-     * @param index the index of the device
+     * @param[in] index the index of the device
+     *
      * @return const char* the gateway of the device
      */
     const char *getGateway(uint32_t index) const {
@@ -1261,7 +1288,8 @@ public:
      *
      * @attention Only valid for network devices, otherwise it will return "0:0:0:0:0:0".
      *
-     * @param index the index of the device
+     * @param[in] index the index of the device
+     *
      * @return const char* The MAC address of the host network interface associated with the device.
      */
     const char *getLocalMacAddress(uint32_t index) const {
@@ -1276,7 +1304,8 @@ public:
      *
      * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
      *
-     * @param index The index of the device
+     * @param[in] index The index of the device
+     *
      * @return const char* The IP address of the host network interface associated with the device.
      */
     const char *getLocalIP(uint32_t index) const {
@@ -1291,7 +1320,8 @@ public:
      *
      * @attention Only valid for network devices, otherwise it will return 0.
      *
-     * @param index The index of the device
+     * @param[in] index The index of the device
+     *
      * @return uint8_t The subnet length (0~32) of the host network interface associated with the device.
      */
     uint8_t getLocalSubnetLength(uint32_t index) const {
@@ -1306,7 +1336,8 @@ public:
      *
      * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
      *
-     * @param index The index of the device
+     * @param[in] index The index of the device
+     *
      * @return const char* The gateway of the host network interface associated with the device.
      */
     const char *getLocalGateway(uint32_t index) const {
@@ -1321,7 +1352,8 @@ public:
      *
      * @attention If the device has already been acquired and created elsewhere, repeated acquisition will throw an exception
      *
-     * @param index the index of the device to create
+     * @param[in] index the index of the device to create
+     *
      * @return std::shared_ptr<Device> the device object
      */
     std::shared_ptr<Device> getDevice(uint32_t index) const {
@@ -1336,7 +1368,8 @@ public:
      *
      * @attention If the device has already been acquired and created elsewhere, repeated acquisition will throw an exception
      *
-     * @param serialNumber the serial number of the device to create
+     * @param[in] serialNumber the serial number of the device to create
+     *
      * @return std::shared_ptr<Device> the device object
      */
     std::shared_ptr<Device> getDeviceBySN(const char *serialNumber) const {
@@ -1355,7 +1388,8 @@ public:
      *
      * @attention If the device has been acquired and created elsewhere, repeated acquisition will throw an exception
      *
-     * @param uid The uid of the device to be created
+     * @param[in] uid The uid of the device to be created
+     *
      * @return std::shared_ptr<Device> returns the device object
      */
     std::shared_ptr<Device> getDeviceByUid(const char *uid) const {
@@ -1427,7 +1461,8 @@ public:
     /**
      * @brief Get the OBDepthWorkMode object at the specified index
      *
-     * @param index the index of the target OBDepthWorkMode object
+     * @param[in] index the index of the target OBDepthWorkMode object
+     *
      * @return OBDepthWorkMode the OBDepthWorkMode object at the specified index
      */
     OBDepthWorkMode getOBDepthWorkMode(uint32_t index) {
@@ -1440,7 +1475,8 @@ public:
     /**
      * @brief Get the OBDepthWorkMode object at the specified index
      *
-     * @param index the index of the target OBDepthWorkMode object
+     * @param[in] index the index of the target OBDepthWorkMode object
+     *
      * @return OBDepthWorkMode the OBDepthWorkMode object at the specified index
      */
     OBDepthWorkMode operator[](uint32_t index) {
@@ -1485,7 +1521,8 @@ public:
     /**
      * @brief Get the name of the device preset at the specified index
      *
-     * @param index the index of the device preset
+     * @param[in] index the index of the device preset
+     *
      * @return const char* the name of the device preset
      */
     const char *getName(uint32_t index) {
@@ -1497,7 +1534,8 @@ public:
 
     /**
      * @brief check if the preset list contains the special name preset.
-     * @param name The name of the preset
+     * @param[in] name The name of the preset
+     *
      * @return bool Returns true if the special name is found in the preset list, otherwise returns false.
      */
     bool hasPreset(const char *name) {
@@ -1544,7 +1582,8 @@ public:
     /**
      * @brief Get the camera parameters for the specified index
      *
-     * @param index the index of the parameter group
+     * @param[in] index the index of the parameter group
+     *
      * @return OBCameraParam the corresponding group parameters
      */
     OBCameraParam getCameraParam(uint32_t index) {
@@ -1591,7 +1630,8 @@ public:
     /**
      * @brief Get the name of the device frame interleave at the specified index
      *
-     * @param index the index of the device frame interleave
+     * @param[in] index the index of the device frame interleave
+     *
      * @return const char* the name of the device frame interleave
      */
     const char *getName(uint32_t index) {
@@ -1603,7 +1643,9 @@ public:
 
     /**
      * @brief check if the frame interleave list contains the special name frame interleave.
-     * @param name The name of the frame interleave
+     *
+     * @param[in] name The name of the frame interleave
+     *
      * @return bool Returns true if the special name is found in the frame interleave list, otherwise returns false.
      */
     bool hasFrameInterleave(const char *name) {
@@ -1641,7 +1683,9 @@ public:
 
     /*
      *  @brief Get the device preset resolution ratio at the specified index
-     *  @param index the index of the device preset resolution ratio
+
+     *  @param[in] index the index of the device preset resolution ratio
+     *
      *  @return OBPresetResolutionConfig the corresponding device preset resolution ratio
      */
     OBPresetResolutionConfig getPresetResolutionRatioConfig(uint32_t index) {
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Error.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Error.hpp
index d0c099a7..4badc115 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Error.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Error.hpp
@@ -22,7 +22,7 @@ private:
      *
      * @attention This constructor should not be called directly, use the handle() function instead.
      *
-     * @param error The ob_error object
+     * @param[in] error The ob_error object
      */
     explicit Error(ob_error *error) : impl_(error) {};
 
@@ -32,8 +32,8 @@ public:
     /**
      * @brief A static function to handle the ob_error and throw an exception if needed.
      *
-     * @param error The ob_error pointer to be handled.
-     * @param throw_exception A boolean value to indicate whether to throw an exception or not, the default value is true.
+     * @param[in,out] error The ob_error pointer to be handled.
+     * @param[in] throw_exception A boolean value to indicate whether to throw an exception or not, the default value is true.
      */
     static void handle(ob_error **error, bool throw_exception = true) {
         if(!error || !*error) {  // no error
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp
index dc291cf3..7f9b8d08 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp
@@ -171,7 +171,8 @@ public:
     /**
      * @brief Processes a frame synchronously.
      *
-     * @param frame The frame to be processed.
+     * @param[in] frame The frame to be processed.
+     *
      * @return std::shared_ptr< Frame > The processed frame.
      */
     virtual std::shared_ptr<Frame> process(std::shared_ptr<const Frame> frame) const {
@@ -187,7 +188,7 @@ public:
     /**
      * @brief Pushes the pending frame into the cache for asynchronous processing.
      *
-     * @param frame The pending frame. The processing result is returned by the callback function.
+     * @param[in] frame The pending frame. The processing result is returned by the callback function.
      */
     virtual void pushFrame(std::shared_ptr<Frame> frame) const {
         ob_error *error = nullptr;
@@ -198,7 +199,7 @@ public:
     /**
      * @brief Set the callback function for asynchronous processing.
      *
-     * @param callback The processing result callback.
+     * @param[in] callback The processing result callback.
      */
     virtual void setCallBack(FilterCallback callback) {
         callback_       = callback;
@@ -210,7 +211,8 @@ public:
     /**
      * @brief Get config schema of the filter
      * @brief The returned string is a csv format string representing the configuration schema of the filter. The format of the string is:
-     *  <parameter_name>, <parameter_type: "int", "float", "bool">, <minimum_value>, <maximum_value>, <value_step>, <default_value>, <parameter_description>
+     * `<parameter_name>`, `<parameter_type: "int", "float", "bool">`, `<minimum_value>`, `<maximum_value>`, `<value_step>`, `<default_value>`,
+     * `<parameter_description>`
      *
      * @return std::string The config schema of the filter.
      */
@@ -237,8 +239,8 @@ public:
      * @attention The pass into value type is double, witch will be cast to the actual type inside the filter. The actual type can be queried by the filter
      * config schema returned by @ref getConfigSchemaVec.
      *
-     * @param configName The name of the config.
-     * @param value The value of the config.
+     * @param[in] configName The name of the config.
+     * @param[in] value The value of the config.
      */
     virtual void setConfigValue(const std::string &configName, double value) const {
         ob_error *error = nullptr;
@@ -252,7 +254,8 @@ public:
      * @attention The returned value type has been casted to double inside the filter. The actual type can be queried by the filter config schema returned by
      * @ref getConfigSchemaVec.
      *
-     * @param configName  The name of the config.
+     * @param[in] configName The name of the config.
+     *
      * @return double The value of the config.
      */
     virtual double getConfigValue(const std::string &configName) const {
@@ -278,6 +281,7 @@ public:
      * @brief Check if the runtime type of the filter object is compatible with a given type.
      *
      * @tparam T The given type.
+     *
      * @return bool The result.
      */
     template <typename T> bool is();
@@ -310,8 +314,8 @@ public:
      * @brief Create a private filter by name and activation key.
      * @brief Some private filters require an activation key to be activated, its depends on the vendor of the filter.
      *
-     * @param name The name of the filter.
-     * @param activationKey The activation key of the filter.
+     * @param[in] name The name of the filter.
+     * @param[in] activationKey The activation key of the filter.
      */
     static std::shared_ptr<Filter> createPrivateFilter(const std::string &name, const std::string &activationKey) {
         ob_error *error = nullptr;
@@ -324,7 +328,8 @@ public:
      * @brief Get the vendor specific code of a filter by filter name.
      * @brief A private filter can define its own vendor specific code for specific purposes.
      *
-     * @param name The name of the filter.
+     * @param[in] name The name of the filter.
+     *
      * @return std::string The vendor specific code of the filter.
      */
     static std::string getFilterVendorSpecificCode(const std::string &name) {
@@ -352,7 +357,7 @@ public:
     /**
      * @brief Set the output pointcloud frame format.
      *
-     * @param format The point cloud frame format: OB_FORMAT_POINT or OB_FORMAT_RGB_POINT
+     * @param[in] format The point cloud frame format: OB_FORMAT_POINT or OB_FORMAT_RGB_POINT
      */
     void setCreatePointFormat(OBFormat format) {
         setConfigValue("pointFormat", static_cast<double>(format));
@@ -364,7 +369,7 @@ public:
      * @brief Calling this function to set the scale will change the point coordinate scaling factor of the output point cloud frame, The point coordinate
      * scaling factor for the output point cloud frame can be obtained via @ref PointsFrame::getCoordinateValueScale function.
      *
-     * @param factor The scale factor.
+     * @param[in] factor The scale factor.
      */
     void setCoordinateDataScaled(float factor) {
         setConfigValue("coordinateDataScale", factor);
@@ -376,7 +381,7 @@ public:
      *
      * @attention This function only works for when create point format is set to OB_FORMAT_RGB_POINT.
      *
-     * @param state Whether normalization is required.
+     * @param[in] state Whether normalization is required.
      */
     void setColorDataNormalization(bool state) {
         setConfigValue("colorDataNormalization", state);
@@ -385,12 +390,35 @@ public:
     /**
      * @brief Set the point cloud coordinate system.
      *
-     * @param type The coordinate system type.
+     * @param[in] type The coordinate system type.
      */
     void setCoordinateSystem(OBCoordinateSystemType type) {
         setConfigValue("coordinateSystemType", static_cast<double>(type));
     }
 
+    /**
+     * @brief Set the point cloud decimation factor.
+     *
+     * @brief Calling this function to decimation factor will output thedownsampled data of the the cloud frame
+     *
+     * @param factor The decimation factor.
+     */
+    void setDecimationFactor(int value) {
+        setConfigValue("decimate", value);
+    }
+
+    /**
+     * @brief Get the property range of the decimation factor range.
+     */
+    OBIntPropertyRange getDecimationFactorRange() {
+        OBIntPropertyRange scaleRange{};
+        if(configSchemaVec_.size() != 0) {
+            const auto &item = configSchemaVec_[5];
+            scaleRange       = getPropertyRange<OBIntPropertyRange>(item, getConfigValue("decimate"));
+        }
+        return scaleRange;
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     void setPositionDataScaled(float scale) {
@@ -434,7 +462,7 @@ public:
      *        the aspect ratio of the target resolution.
      *
      *
-     * @param state If true, output frame resolution will match the target resolution; otherwise, it will
+     * @param[in] state If true, output frame resolution will match the target resolution; otherwise, it will
      *              maintain the original resolution with the target's aspect ratio.
      */
     void setMatchTargetResolution(bool state) {
@@ -445,7 +473,7 @@ public:
      * @brief Set the Align To Stream Profile
      * @brief  It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
      *
-     * @param profile The Align To Stream Profile.
+     * @param[in] profile The Align To Stream Profile.
      */
     void setAlignToStreamProfile(std::shared_ptr<const StreamProfile> profile) {
         ob_error *error = nullptr;
@@ -471,7 +499,7 @@ public:
     /**
      * @brief Set the format conversion type.
      *
-     * @param type The format conversion type.
+     * @param[in] type The format conversion type.
      */
     void setFormatConvertType(OBConvertFormat type) {
         setConfigValue("convertType", static_cast<double>(type));
@@ -534,7 +562,7 @@ public:
     /**
      * @brief Set the sequenceId filter params.
      *
-     * @param sequence_id id to pass the filter.
+     * @param[in] sequence_id id to pass the filter.
      */
     void selectSequenceId(int sequence_id) {
         setConfigValue("sequenceid", static_cast<double>(sequence_id));
@@ -580,7 +608,7 @@ public:
     /**
      * @brief Set the decimation filter scale value.
      *
-     * @param value The decimation filter scale value.
+     * @param[in] value The decimation filter scale value.
      */
     void setScaleValue(uint8_t value) {
         setConfigValue("decimate", static_cast<double>(value));
@@ -769,7 +797,7 @@ public:
     /**
      * @brief Set the spatial advanced filter params.
      *
-     * @param params OBSpatialAdvancedFilterParams.
+     * @param[in] params OBSpatialAdvancedFilterParams.
      */
     void setFilterParams(OBSpatialAdvancedFilterParams params) {
         setConfigValue("alpha", params.alpha);
@@ -825,7 +853,7 @@ public:
     /**
      * @brief Set the spatial fast filter params.
      *
-     * @param params OBSpatialFastFilterParams.
+     * @param[in] params OBSpatialFastFilterParams.
      */
     void setFilterParams(OBSpatialFastFilterParams params) {
         setConfigValue("radius", params.radius);
@@ -914,7 +942,7 @@ public:
     /**
      * @brief Set the spatial moderate filter params.
      *
-     * @param params OBSpatialModerateFilterParams.
+     * @param[in] params OBSpatialModerateFilterParams.
      */
     void setFilterParams(OBSpatialModerateFilterParams params) {
         setConfigValue("magnitude", params.magnitude);
@@ -940,7 +968,7 @@ public:
     /**
      * @brief Set the HoleFillingFilter mode.
      *
-     * @param mode OBHoleFillingMode, OB_HOLE_FILL_TOP,OB_HOLE_FILL_NEAREST or OB_HOLE_FILL_FAREST.
+     * @param[in] mode OBHoleFillingMode, OB_HOLE_FILL_TOP,OB_HOLE_FILL_NEAREST or OB_HOLE_FILL_FAREST.
      */
     void setFilterMode(OBHoleFillingMode mode) {
         setConfigValue("hole_filling_mode", static_cast<double>(mode));
@@ -1061,7 +1089,7 @@ public:
     /**
      * @brief Set the TemporalFilter diffscale value.
      *
-     * @param value diffscale value.
+     * @param[in] value diffscale value.
      */
     void setDiffScale(float value) {
         setConfigValue("diff_scale", static_cast<double>(value));
@@ -1087,7 +1115,7 @@ public:
     /**
      * @brief Set the TemporalFilter weight value.
      *
-     * @param value weight value.
+     * @param[in] value weight value.
      */
     void setWeight(float value) {
         setConfigValue("weight", static_cast<double>(value));
@@ -1137,7 +1165,8 @@ public:
     /**
      * @brief Get the Filter object at the specified index
      *
-     * @param index The filter index. The range is [0, count-1]. If the index exceeds the range, an exception will be thrown.
+     * @param[in] index The filter index. The range is [0, count-1]. If the index exceeds the range, an exception will be thrown.
+     *
      * @return std::shared_ptr<Filter> The filter object.
      */
     std::shared_ptr<Filter> getFilter(uint32_t index) {
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
index 27f52cf7..7021fcf3 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
@@ -57,7 +57,7 @@ public:
      * frame object is destroyed.
      * @attention The internal frame object should not be deleted by the caller.
      *
-     * @param impl The pointer to the internal frame object.
+     * @param[in] impl The pointer to the internal frame object.
      */
     explicit Frame(const ob_frame *impl) : impl_(impl) {}
 
@@ -227,7 +227,8 @@ public:
     /**
      * @brief Check if the frame object has metadata of a given type.
      *
-     * @param type The metadata type. refer to @ref OBFrameMetadataType
+     * @param[in] type The metadata type. refer to @ref OBFrameMetadataType
+     *
      * @return bool The result.
      */
     bool hasMetadata(OBFrameMetadataType type) const {
@@ -241,7 +242,8 @@ public:
     /**
      * @brief Get the metadata value
      *
-     * @param type The metadata type. refer to @ref OBFrameMetadataType
+     * @param[in] type The metadata type. refer to @ref OBFrameMetadataType
+     *
      * @return int64_t The metadata value.
      */
     int64_t getMetadataValue(OBFrameMetadataType type) const {
@@ -294,6 +296,7 @@ public:
      * @brief Check if the runtime type of the frame object is compatible with a given type.
      *
      * @tparam T The given type.
+     *
      * @return bool The result.
      */
     template <typename T> bool is() const;
@@ -302,6 +305,7 @@ public:
      * @brief Convert the frame object to a target type.
      *
      * @tparam T The target type.
+     *
      * @return std::shared_ptr<T> The result. If it cannot be converted, an exception will be thrown.
      */
     template <typename T> std::shared_ptr<T> as() {
@@ -320,6 +324,7 @@ public:
      * @brief Convert the frame object to a target type.
      *
      * @tparam T The target type.
+     *
      * @return std::shared_ptr<T> The result. If it cannot be converted, an exception will be thrown.
      */
     template <typename T> std::shared_ptr<const T> as() const {
@@ -334,6 +339,87 @@ public:
         return std::make_shared<const T>(impl_);
     }
 
+    /**
+     * @brief Copy the information of the source frame object to the destination frame object.
+     * @brief Including the index, timestamp, system timestamp, global timestamp and metadata will be copied.
+     *
+     * @param[in] srcFrame Source frame object to copy the information from.
+     */
+    void copyFrameInfo(std::shared_ptr<const Frame> srcFrame) {
+        ob_error *error       = nullptr;
+        auto      unConstImpl = const_cast<ob_frame *>(impl_);
+
+        ob_frame_copy_info(srcFrame->getImpl(), unConstImpl, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Set the system timestamp of the frame in microseconds.
+     *
+     * @param systemTimestampUs frame system timestamp to set in microseconds.
+     */
+    void setSystemTimestampUs(uint64_t systemTimestampUs) {
+        ob_error *error       = nullptr;
+        auto      unConstImpl = const_cast<ob_frame *>(impl_);
+
+        ob_frame_set_system_timestamp_us(unConstImpl, systemTimestampUs, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Update the data of a frame.
+     * @brief The data will be memcpy to the frame data buffer.
+     * @brief The frame data size will be also updated as the input data size.
+     *
+     * @attention It is not recommended to update the frame data if the frame was not created by the user. If you must update it, ensure that the frame is not
+     * being used in other threads.
+     * @attention The size of the new data should be equal to or less than the current data size of the frame. Exceeding the original size may cause memory
+     * exceptions.
+     *
+     * @param[in] data The new data to update the frame with.
+     * @param[in] dataSize The size of the new data.
+     */
+    void updateData(const uint8_t *data, uint32_t dataSize) {
+        ob_error *error       = nullptr;
+        auto      unConstImpl = const_cast<ob_frame *>(impl_);
+
+        ob_frame_update_data(unConstImpl, data, dataSize, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Update the metadata of the frame
+     * @brief The metadata will be memcpy to the frame metadata buffer.
+     * @brief The frame metadata size will be also updated as the input metadata size.
+     *
+     * @attention It is not recommended to update the frame metadata if the frame was not created by the user. If you must update it, ensure that the frame is
+     * not being used in other threads or future use.
+     * @attention The metadata size should be equal to or less than 256 bytes, otherwise it will cause memory exception.
+     *
+     * @param[in] metadata The new metadata to update.
+     * @param[in] metadataSize The size of the new metadata.
+     */
+    void updateMetadata(const uint8_t *metadata, uint32_t metadataSize) {
+        ob_error *error       = nullptr;
+        auto      unConstImpl = const_cast<ob_frame *>(impl_);
+
+        ob_frame_update_metadata(unConstImpl, metadata, metadataSize, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Set (override) the stream profile of the frame
+     *
+     * @param profile The stream profile to set for the frame.
+     */
+    void setStreamProfile(std::shared_ptr<const StreamProfile> profile) {
+        ob_error *error       = nullptr;
+        auto      unConstImpl = const_cast<ob_frame *>(impl_);
+
+        ob_frame_set_stream_profile(unConstImpl, profile->getImpl(), &error);
+        Error::handle(&error);
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     OBFrameType type() const {
@@ -398,7 +484,7 @@ public:
      * frame object is destroyed.
      * @attention The internal frame object should not be deleted by the caller.
      *
-     * @param impl The pointer to the internal frame object.
+     * @param[in] impl The pointer to the internal frame object.
      */
     explicit VideoFrame(const ob_frame *impl) : Frame(impl) {};
 
@@ -460,6 +546,34 @@ public:
         return bitSize;
     }
 
+    /**
+     * @brief Set video frame pixel format
+     *
+     * @param pixelType the pixel format of the frame
+     */
+    void setPixelType(OBPixelType pixelType) {
+        ob_error *error       = nullptr;
+        auto      unConstImpl = const_cast<ob_frame *>(impl_);
+
+        ob_video_frame_set_pixel_type(unConstImpl, pixelType, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Set the effective number of pixels (such as Y16 format frame, but only the lower 10 bits are effective bits, and the upper 6 bits are filled with
+     * 0)
+     * @attention Only valid for Y8/Y10/Y11/Y12/Y14/Y16 format
+     *
+     * @param[in] bitSize the effective number of pixels in the pixel, or 0 if it is an unsupported format
+     */
+    void setPixelAvailableBitSize(uint8_t bitSize) {
+        ob_error *error       = nullptr;
+        auto      unConstImpl = const_cast<ob_frame *>(impl_);
+
+        ob_video_frame_set_pixel_available_bit_size(unConstImpl, bitSize, &error);
+        Error::handle(&error);
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     uint32_t width() const {
@@ -488,7 +602,7 @@ public:
      * @attention The internal frame object should not be deleted by the caller.
      * @attention Please use the FrameFactory to create a Frame object.
      *
-     * @param impl The pointer to the internal frame object.
+     * @param[in] impl The pointer to the internal frame object.
      */
     explicit ColorFrame(const ob_frame *impl) : VideoFrame(impl) {};
 
@@ -509,7 +623,7 @@ public:
      * @attention The internal frame object should not be deleted by the caller.
      * @attention Please use the FrameFactory to create a Frame object.
      *
-     * @param impl The pointer to the internal frame object.
+     * @param[in] impl The pointer to the internal frame object.
      */
     explicit DepthFrame(const ob_frame *impl) : VideoFrame(impl) {};
 
@@ -529,6 +643,20 @@ public:
 
         return scale;
     }
+
+    /**
+     * @brief Set the value scale of the depth frame. The pixel value of the depth frame is multiplied by the scale to give a depth value in millimeters.
+     * For example, if valueScale=0.1 and a certain coordinate pixel value is pixelValue=10000, then the depth value = pixelValue*valueScale = 10000*0.1=1000mm.
+     *
+     * @param[in] valueScale The value scale of the depth frame
+     */
+    void setValueScale(float valueScale) {
+        ob_error *error       = nullptr;
+        auto      unConstImpl = const_cast<ob_frame *>(impl_);
+
+        ob_depth_frame_set_value_scale(unConstImpl, valueScale, &error);
+        Error::handle(&error);
+    }
 };
 
 /**
@@ -546,7 +674,7 @@ public:
      * @attention The internal frame object should not be deleted by the caller.
      * @attention Please use the FrameFactory to create a Frame object.
      *
-     * @param impl The pointer to the internal frame object.
+     * @param[in] impl The pointer to the internal frame object.
      */
     explicit IRFrame(const ob_frame *impl) : VideoFrame(impl) {};
 
@@ -568,7 +696,7 @@ public:
      * @attention The internal frame object should not be deleted by the caller.
      * @attention Please use the FrameFactory to create a Frame object.
      *
-     * @param impl The pointer to the internal frame object.
+     * @param[in] impl The pointer to the internal frame object.
      */
     explicit ConfidenceFrame(const ob_frame *impl) : VideoFrame(impl) {};
 
@@ -580,8 +708,8 @@ public:
  * @brief The PointsFrame class is used to obtain pointcloud data and point cloud information.
  *
  * @note The pointcloud data format can be obtained from the @ref Frame::getFormat() function. Witch can be one of the following formats:
- * - @ref OB_FORMAT_POINT: 32-bit float format with 3D point coordinates (x, y, z), @ref OBPoint
- * - @ref OB_FORMAT_RGB_POINT: 32-bit float format with 3D point coordinates (x, y, z) and point colors (r, g, b) @ref, OBColorPoint
+ * - @ref OB_FORMAT_POINT : 32-bit float format with 3D point coordinates (x, y, z), @ref OBPoint
+ * - @ref OB_FORMAT_RGB_POINT : 32-bit float format with 3D point coordinates (x, y, z) and point colors (r, g, b) @ref OBColorPoint
  */
 class PointsFrame : public Frame {
 
@@ -594,7 +722,7 @@ public:
      * @attention The internal frame object should not be deleted by the caller.
      * @attention Please use the FrameFactory to create a Frame object.
      *
-     * @param impl The pointer to the internal frame object.
+     * @param[in] impl The pointer to the internal frame object.
      */
     explicit PointsFrame(const ob_frame *impl) : Frame(impl) {};
 
@@ -768,7 +896,8 @@ public:
     /**
      * @brief Get a frame of a specific type from the FrameSet
      *
-     * @param frameType The type of sensor
+     * @param[in] frameType The type of sensor
+     *
      * @return std::shared_ptr<Frame> The corresponding type of frame
      */
     std::shared_ptr<Frame> getFrame(OBFrameType frameType) const {
@@ -784,7 +913,8 @@ public:
     /**
      * @brief Get a frame at a specific index from the FrameSet
      *
-     * @param index The index of the frame
+     * @param[in] index The index of the frame
+     *
      * @return std::shared_ptr<Frame> The frame at the specified index
      */
     std::shared_ptr<Frame> getFrameByIndex(uint32_t index) const {
@@ -802,7 +932,7 @@ public:
      *
      * @attention If the FrameSet contains the same type of frame, the new frame will replace the old one.
      *
-     * @param frame The frame to be pushed
+     * @param[in] frame The frame to be pushed
      */
     void pushFrame(std::shared_ptr<const Frame> frame) const {
         ob_error *error = nullptr;
@@ -816,6 +946,66 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Get the depth frame from the frameset.
+     *
+     * @return std::shared_ptr<DepthFrame> Return the depth frame.
+     */
+    std::shared_ptr<DepthFrame> getDepthFrame() const {
+        ob_error *error = nullptr;
+        auto      frame = ob_frameset_get_depth_frame(impl_, &error);
+        if(!frame) {
+            return nullptr;
+        }
+        Error::handle(&error);
+        return std::make_shared<DepthFrame>(frame);
+    }
+
+    /**
+     * @brief Get the color frame from the frameset.
+     *
+     * @return std::shared_ptr<ColorFrame> Return the color frame.
+     */
+    std::shared_ptr<ColorFrame> getColorFrame() const {
+        ob_error *error = nullptr;
+        auto      frame = ob_frameset_get_color_frame(impl_, &error);
+        if(!frame) {
+            return nullptr;
+        }
+        Error::handle(&error);
+        return std::make_shared<ColorFrame>(frame);
+    }
+
+    /**
+     * @brief Get the infrared frame from the frameset.
+     *
+     * @return std::shared_ptr<IRFrame> Return the infrared frame.
+     */
+    std::shared_ptr<IRFrame> getIrFrame() const {
+        ob_error *error = nullptr;
+        auto      frame = ob_frameset_get_ir_frame(impl_, &error);
+        if(!frame) {
+            return nullptr;
+        }
+        Error::handle(&error);
+        return std::make_shared<IRFrame>(frame);
+    }
+
+    /**
+     * @brief Get the point cloud frame from the frameset.
+     *
+     * @return std::shared_ptr<PointsFrame> Return the point cloud frame.
+     */
+    std::shared_ptr<PointsFrame> getPointsFrame() const {
+        ob_error *error = nullptr;
+        auto      frame = ob_frameset_get_points_frame(impl_, &error);
+        if(!frame) {
+            return nullptr;
+        }
+        Error::handle(&error);
+        return std::make_shared<PointsFrame>(frame);
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     uint32_t frameCount() const {
@@ -873,9 +1063,10 @@ public:
     /**
      * @brief Create a Frame object of a specific type with a given format and data size.
      *
-     * @param frameType The type of the frame.
-     * @param format The format of the frame.
-     * @param dataSize The size of the data in bytes.
+     * @param[in] frameType The type of the frame.
+     * @param[in] format The format of the frame.
+     * @param[in] dataSize The size of the data in bytes.
+     *
      * @return std::shared_ptr<Frame> The created frame object.
      */
     static std::shared_ptr<Frame> createFrame(OBFrameType frameType, OBFormat format, uint32_t dataSize) {
@@ -890,11 +1081,11 @@ public:
      * @brief Create a VideoFrame object of a specific type with a given format, width, height, and stride.
      * @note If stride is not specified, it will be calculated based on the width and format.
      *
-     * @param frameType The type of the frame.
-     * @param format The format of the frame.
-     * @param width The width of the frame.
-     * @param height The height of the frame.
-     * @param stride The stride of the frame.
+     * @param[in] frameType The type of the frame.
+     * @param[in] format The format of the frame.
+     * @param[in] width The width of the frame.
+     * @param[in] height The height of the frame.
+     * @param[in] stride The stride of the frame.
      *
      * @return std::shared_ptr<VideoFrame> The created video frame object.
      */
@@ -911,7 +1102,8 @@ public:
      * @brief Create (clone) a frame object based on the specified other frame object.
      * @brief The new frame object will have the same properties as the other frame object, but the data buffer is newly allocated.
      *
-     * @param shouldCopyData If true, the data of the source frame object will be copied to the new frame object. If false, the new frame object will
+     * @param[in] otherFrame The source frame to be copied.
+     * @param[in] shouldCopyData If true, the data of the source frame object will be copied to the new frame object. If false, the new frame object will
      * have a data buffer with random data. The default value is true.
      *
      * @return std::shared_ptr<Frame> The new frame object.
@@ -928,7 +1120,7 @@ public:
     /**
      * @brief Create a Frame From (according to)Stream Profile object
      *
-     * @param profile The stream profile object to create the frame from.
+     * @param[in] profile The stream profile object to create the frame from.
      *
      * @return std::shared_ptr<Frame>  The created frame object.
      */
@@ -1038,8 +1230,8 @@ public:
     /**
      * @brief Set the device timestamp of the frame.
      *
-     * @param frame The frame object.
-     * @param deviceTimestampUs The device timestamp to set in microseconds.
+     * @param[in] frame The frame object.
+     * @param[in] deviceTimestampUs The device timestamp to set in microseconds.
      */
     static void setFrameDeviceTimestampUs(std::shared_ptr<Frame> frame, uint64_t deviceTimestampUs) {
         ob_error *error = nullptr;
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp
index 61009f1f..c372a742 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp
@@ -57,7 +57,7 @@ public:
     /**
      * @brief enable a stream with a specific stream type
      *
-     * @param streamType The stream type to be enabled
+     * @param[in] streamType The stream type to be enabled
      */
     void enableStream(OBStreamType streamType) const {
         ob_error *error = nullptr;
@@ -69,7 +69,7 @@ public:
      * @brief Enable a stream with a specific sensor type
      * @brief Will convert sensor type to stream type automatically.
      *
-     * @param sensorType The sensor type to be enabled
+     * @param[in] sensorType The sensor type to be enabled
      */
     void enableStream(OBSensorType sensorType) const {
         auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
@@ -79,7 +79,7 @@ public:
     /**
      * @brief Enable a stream to be used in the pipeline
      *
-     * @param streamProfile The stream configuration to be enabled
+     * @param[in] streamProfile The stream configuration to be enabled
      */
     void enableStream(std::shared_ptr<const StreamProfile> streamProfile) const {
         ob_error *error            = nullptr;
@@ -95,11 +95,11 @@ public:
      * If no parameters are specified, the stream will be enabled with default resolution settings.
      * Users who wish to set custom resolutions should refer to the product manual, as available resolutions vary by camera model.
      *
-     * @param streamType The video stream type.
-     * @param width The video stream width (default is OB_WIDTH_ANY, which selects the default resolution).
-     * @param height The video stream height (default is OB_HEIGHT_ANY, which selects the default resolution).
-     * @param fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
-     * @param format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
+     * @param[in] streamType The video stream type.
+     * @param[in] width The video stream width (default is OB_WIDTH_ANY, which selects the default resolution).
+     * @param[in] height The video stream height (default is OB_HEIGHT_ANY, which selects the default resolution).
+     * @param[in] fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
+     * @param[in] format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
      */
     void enableVideoStream(OBStreamType streamType, uint32_t width = OB_WIDTH_ANY, uint32_t height = OB_HEIGHT_ANY, uint32_t fps = OB_FPS_ANY,
                            OBFormat format = OB_FORMAT_ANY) const {
@@ -112,11 +112,11 @@ public:
      * @brief Enable a video stream to be used in the pipeline.
      * @brief Will convert sensor type to stream type automatically.
      *
-     * @param sensorType The sensor type to be enabled.
-     * @param width The video stream width (default is OB_WIDTH_ANY, which selects the default resolution).
-     * @param height The video stream height (default is OB_HEIGHT_ANY, which selects the default resolution).
-     * @param fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
-     * @param format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
+     * @param[in] sensorType The sensor type to be enabled.
+     * @param[in] width The video stream width (default is OB_WIDTH_ANY, which selects the default resolution).
+     * @param[in] height The video stream height (default is OB_HEIGHT_ANY, which selects the default resolution).
+     * @param[in] fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
+     * @param[in] format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
      */
     void enableVideoStream(OBSensorType sensorType, uint32_t width = OB_WIDTH_ANY, uint32_t height = OB_HEIGHT_ANY, uint32_t fps = OB_FPS_ANY,
                            OBFormat format = OB_FORMAT_ANY) const {
@@ -131,8 +131,8 @@ public:
      * If no parameters are specified, the stream will be enabled with default settings.
      * Users who wish to set custom full-scale ranges or sample rates should refer to the product manual, as available settings vary by device model.
      *
-     * @param fullScaleRange The full-scale range of the accelerometer (default is OB_ACCEL_FULL_SCALE_RANGE_ANY, which selects the default range).
-     * @param sampleRate The sample rate of the accelerometer (default is OB_ACCEL_SAMPLE_RATE_ANY, which selects the default rate).
+     * @param[in] fullScaleRange The full-scale range of the accelerometer (default is OB_ACCEL_FULL_SCALE_RANGE_ANY, which selects the default range).
+     * @param[in] sampleRate The sample rate of the accelerometer (default is OB_ACCEL_SAMPLE_RATE_ANY, which selects the default rate).
      */
     void enableAccelStream(OBAccelFullScaleRange fullScaleRange = OB_ACCEL_FULL_SCALE_RANGE_ANY,
                            OBAccelSampleRate     sampleRate     = OB_ACCEL_SAMPLE_RATE_ANY) const {
@@ -148,8 +148,8 @@ public:
      * If no parameters are specified, the stream will be enabled with default settings.
      * Users who wish to set custom full-scale ranges or sample rates should refer to the product manual, as available settings vary by device model.
      *
-     * @param fullScaleRange The full-scale range of the gyroscope (default is OB_GYRO_FULL_SCALE_RANGE_ANY, which selects the default range).
-     * @param sampleRate The sample rate of the gyroscope (default is OB_GYRO_SAMPLE_RATE_ANY, which selects the default rate).
+     * @param[in] fullScaleRange The full-scale range of the gyroscope (default is OB_GYRO_FULL_SCALE_RANGE_ANY, which selects the default range).
+     * @param[in] sampleRate The sample rate of the gyroscope (default is OB_GYRO_SAMPLE_RATE_ANY, which selects the default rate).
      */
     void enableGyroStream(OBGyroFullScaleRange fullScaleRange = OB_GYRO_FULL_SCALE_RANGE_ANY, OBGyroSampleRate sampleRate = OB_GYRO_SAMPLE_RATE_ANY) const {
         ob_error *error = nullptr;
@@ -170,7 +170,7 @@ public:
     /**
      * @brief Disable a stream to be used in the pipeline
      *
-     * @param streamType The stream configuration to be disabled
+     * @param[in] streamType The stream configuration to be disabled
      */
     void disableStream(OBStreamType streamType) const {
         ob_error *error = nullptr;
@@ -182,7 +182,7 @@ public:
      * @brief Disable a sensor stream to be used in the pipeline.
      * @brief Will convert sensor type to stream type automatically.
      *
-     * @param sensorType The sensor configuration to be disabled
+     * @param[in] sensorType The sensor configuration to be disabled
      */
     void disableStream(OBSensorType sensorType) const {
         auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
@@ -213,7 +213,7 @@ public:
     /**
      * @brief Set the alignment mode
      *
-     * @param mode The alignment mode
+     * @param[in] mode The alignment mode
      */
     void setAlignMode(OBAlignMode mode) const {
         ob_error *error = nullptr;
@@ -224,7 +224,7 @@ public:
     /**
      * @brief Set whether the depth needs to be scaled after setting D2C
      *
-     * @param enable Whether scaling is required
+     * @param[in] enable Whether scaling is required
      */
     void setDepthScaleRequire(bool enable) const {
         ob_error *error = nullptr;
@@ -237,7 +237,7 @@ public:
      * @brief The processing strategy when the FrameSet generated by the frame aggregation function does not contain the frames of all opened streams (which
      * can be caused by different frame rates of each stream, or by the loss of frames of one stream): drop directly or output to the user.
      *
-     * @param mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
+     * @param[in] mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
      */
     void setFrameAggregateOutputMode(OBFrameAggregateOutputMode mode) const {
         ob_error *error = nullptr;
@@ -251,7 +251,7 @@ public:
     /**
      * @brief FrameSetCallback is a callback function type for frameset data arrival.
      *
-     * @param frame The returned frameset data
+     * @param[in] frame The returned frameset data
      */
     typedef std::function<void(std::shared_ptr<FrameSet> frame)> FrameSetCallback;
 
@@ -294,7 +294,7 @@ public:
     /**
      * @brief Start the pipeline with configuration parameters
      *
-     * @param config The parameter configuration of the pipeline
+     * @param[in] config The parameter configuration of the pipeline
      */
     void start(std::shared_ptr<Config> config = nullptr) const {
         ob_error    *error       = nullptr;
@@ -306,8 +306,8 @@ public:
     /**
      * @brief Start the pipeline and set the frameset data callback
      *
-     * @param config The configuration of the pipeline
-     * @param callback The callback to be triggered when all frame data in the frameset arrives
+     * @param[in] config The configuration of the pipeline
+     * @param[in] callback The callback to be triggered when all frame data in the frameset arrives
      */
     void start(std::shared_ptr<Config> config, FrameSetCallback callback) {
         callback_       = callback;
@@ -346,7 +346,8 @@ public:
     /**
      * @brief Wait for frameset
      *
-     * @param timeoutMs The waiting timeout in milliseconds
+     * @param[in] timeoutMs The waiting timeout in milliseconds
+     *
      * @return std::shared_ptr<FrameSet> The waiting frameset data
      */
     std::shared_ptr<FrameSet> waitForFrameset(uint32_t timeoutMs = 1000) const {
@@ -374,7 +375,8 @@ public:
     /**
      * @brief Get the stream profile of the specified sensor
      *
-     * @param sensorType The type of sensor
+     * @param[in] sensorType The type of sensor
+     *
      * @return std::shared_ptr<StreamProfileList> The stream profile list
      */
     std::shared_ptr<StreamProfileList> getStreamProfileList(OBSensorType sensorType) const {
@@ -387,8 +389,8 @@ public:
     /**
      * @brief Get the stream profile list of supported depth-to-color alignments
      *
-     * @param colorProfile The color stream profile, which is the target stream profile for the depth-to-color alignment.
-     * @param alignMode The alignment mode.
+     * @param[in] colorProfile The color stream profile, which is the target stream profile for the depth-to-color alignment.
+     * @param[in] alignMode The alignment mode.
      *
      * @attention Currently, only ALIGN_D2C_HW_MODE supported. For other align modes, please using the AlignFilter interface.
      *
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Sensor.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Sensor.hpp
index 73345f2b..1bda3384 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Sensor.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Sensor.hpp
@@ -26,7 +26,7 @@ public:
     /**
      * @brief Callback function for frame data.
      *
-     * @param frame The frame data.
+     * @param[in] frame The frame data.
      */
     typedef std::function<void(std::shared_ptr<Frame> frame)> FrameCallback;
 
@@ -110,8 +110,8 @@ public:
     /**
      * @brief Open a frame data stream and set up a callback.
      *
-     * @param streamProfile The stream configuration.
-     * @param callback The callback to set when frame data arrives.
+     * @param[in] streamProfile The stream configuration.
+     * @param[in] callback The callback to set when frame data arrives.
      */
     void start(std::shared_ptr<StreamProfile> streamProfile, FrameCallback callback) {
         ob_error *error = nullptr;
@@ -132,7 +132,7 @@ public:
     /**
      * @brief Dynamically switch resolutions.
      *
-     * @param streamProfile The resolution to switch to.
+     * @param[in] streamProfile The resolution to switch to.
      */
     void switchProfile(std::shared_ptr<StreamProfile> streamProfile) {
         ob_error *error = nullptr;
@@ -185,7 +185,8 @@ public:
     /**
      * @brief Get the type of the specified sensor.
      *
-     * @param index The sensor index.
+     * @param[in] index The sensor index.
+     *
      * @return OBSensorType The sensor type.
      */
     OBSensorType getSensorType(uint32_t index) const {
@@ -198,7 +199,8 @@ public:
     /**
      * @brief Get a sensor by index number.
      *
-     * @param index The sensor index. The range is [0, count-1]. If the index exceeds the range, an exception will be thrown.
+     * @param[in] index The sensor index. The range is [0, count-1]. If the index exceeds the range, an exception will be thrown.
+     *
      * @return std::shared_ptr<Sensor> The sensor object.
      */
     std::shared_ptr<Sensor> getSensor(uint32_t index) const {
@@ -211,7 +213,8 @@ public:
     /**
      * @brief Get a sensor by sensor type.
      *
-     * @param sensorType The sensor type to obtain.
+     * @param[in] sensorType The sensor type to obtain.
+     *
      * @return std::shared_ptr<Sensor> A sensor object. If the specified sensor type does not exist, it will return empty.
      */
     std::shared_ptr<Sensor> getSensor(OBSensorType sensorType) const {
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp
index 01c068d9..44aa1f55 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp
@@ -114,6 +114,7 @@ public:
      * @brief Check if frame object is compatible with the given type.
      *
      * @tparam T  Given type.
+     *
      * @return bool return result.
      */
     template <typename T> bool is() const;
@@ -122,6 +123,7 @@ public:
      * @brief Converts object type to target type.
      *
      * @tparam T Target type.
+     *
      * @return std::shared_ptr<T> Return the result. Throws an exception if conversion is not possible.
      */
     template <typename T> std::shared_ptr<T> as() {
@@ -136,6 +138,7 @@ public:
      * @brief Converts object type to target type (const version).
      *
      * @tparam T Target type.
+     *
      * @return std::shared_ptr<T> Return the result. Throws an exception if conversion is not possible.
      */
     template <typename T> std::shared_ptr<const T> as() const {
@@ -219,7 +222,7 @@ public:
     /**
      * @brief Set the intrinsic parameters of the stream.
      *
-     * @param intrinsic The intrinsic parameters.
+     * @param[in] intrinsic The intrinsic parameters.
      */
     void setIntrinsic(const OBCameraIntrinsic &intrinsic) {
         ob_error *error = nullptr;
@@ -243,7 +246,7 @@ public:
     /**
      * @brief Set the distortion parameters of the stream.
      *
-     * @param distortion The distortion parameters.
+     * @param[in] distortion The distortion parameters.
      */
     void setDistortion(const OBCameraDistortion &distortion) {
         ob_error *error = nullptr;
@@ -454,7 +457,9 @@ public:
     /**
      * @brief Return the StreamProfile object at the specified index.
      *
-     * @param index The index of the StreamProfile object to be retrieved. Must be in the range [0, count-1]. Throws an exception if the index is out of range.
+     * @param[in] index The index of the StreamProfile object to be retrieved. Must be in the range [0, count-1]. Throws an exception if the index is out of
+     * range.
+     *
      * @return std::shared_ptr<StreamProfile> Return the StreamProfile object.
      */
     std::shared_ptr<StreamProfile> getProfile(uint32_t index) const {
@@ -468,10 +473,11 @@ public:
      * @brief Match the corresponding video stream profile based on the passed-in parameters. If multiple Match are found, the first one in the list is
      * returned by default. Throws an exception if no matching profile is found.
      *
-     * @param width The width of the stream. Pass OB_WIDTH_ANY if no matching condition is required.
-     * @param height The height of the stream. Pass OB_HEIGHT_ANY if no matching condition is required.
-     * @param format The type of the stream. Pass OB_FORMAT_ANY if no matching condition is required.
-     * @param fps The frame rate of the stream. Pass OB_FPS_ANY if no matching condition is required.
+     * @param[in] width The width of the stream. Pass OB_WIDTH_ANY if no matching condition is required.
+     * @param[in] height The height of the stream. Pass OB_HEIGHT_ANY if no matching condition is required.
+     * @param[in] format The type of the stream. Pass OB_FORMAT_ANY if no matching condition is required.
+     * @param[in] fps The frame rate of the stream. Pass OB_FPS_ANY if no matching condition is required.
+     *
      * @return std::shared_ptr<VideoStreamProfile> Return the matching resolution.
      */
     std::shared_ptr<VideoStreamProfile> getVideoStreamProfile(int width = OB_WIDTH_ANY, int height = OB_HEIGHT_ANY, OBFormat format = OB_FORMAT_ANY,
@@ -487,8 +493,8 @@ public:
      * @brief Match the corresponding accelerometer stream profile based on the passed-in parameters. If multiple Match are found, the first one in the list
      * is returned by default. Throws an exception if no matching profile is found.
      *
-     * @param fullScaleRange The full scale range. Pass 0 if no matching condition is required.
-     * @param sampleRate The sampling frequency. Pass 0 if no matching condition is required.
+     * @param[in] fullScaleRange The full scale range. Pass 0 if no matching condition is required.
+     * @param[in] sampleRate The sampling frequency. Pass 0 if no matching condition is required.
      */
     std::shared_ptr<AccelStreamProfile> getAccelStreamProfile(OBAccelFullScaleRange fullScaleRange, OBAccelSampleRate sampleRate) const {
         ob_error *error   = nullptr;
@@ -502,8 +508,8 @@ public:
      * @brief Match the corresponding gyroscope stream profile based on the passed-in parameters. If multiple Match are found, the first one in the list is
      * returned by default. Throws an exception if no matching profile is found.
      *
-     * @param fullScaleRange The full scale range. Pass 0 if no matching condition is required.
-     * @param sampleRate The sampling frequency. Pass 0 if no matching condition is required.
+     * @param[in] fullScaleRange The full scale range. Pass 0 if no matching condition is required.
+     * @param[in] sampleRate The sampling frequency. Pass 0 if no matching condition is required.
      */
     std::shared_ptr<GyroStreamProfile> getGyroStreamProfile(OBGyroFullScaleRange fullScaleRange, OBGyroSampleRate sampleRate) const {
         ob_error *error   = nullptr;
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp
index 9a4bbe00..c6f786a8 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp
@@ -17,6 +17,7 @@ public:
      * @brief Convert OBFormat to " string " type and then return.
      *
      * @param[in] type OBFormat type.
+     *
      * @return OBFormat of "string" type.
      */
     static std::string convertOBFormatTypeToString(const OBFormat &type) {
@@ -27,6 +28,7 @@ public:
      * @brief Convert OBFrameType to " string " type and then return.
      *
      * @param[in] type OBFrameType type.
+     *
      * @return OBFrameType of "string" type.
      */
     static std::string convertOBFrameTypeToString(const OBFrameType &type) {
@@ -37,6 +39,7 @@ public:
      * @brief Convert OBStreamType to " string " type and then return.
      *
      * @param[in] type OBStreamType type.
+     *
      * @return OBStreamType of "string" type.
      */
     static std::string convertOBStreamTypeToString(const OBStreamType &type) {
@@ -47,6 +50,7 @@ public:
      * @brief Convert OBSensorType to " string " type and then return.
      *
      * @param[in] type OBSensorType type.
+     *
      * @return OBSensorType of "string" type.
      */
     static std::string convertOBSensorTypeToString(const OBSensorType &type) {
@@ -57,6 +61,7 @@ public:
      * @brief Convert OBIMUSampleRate to " string " type and then return.
      *
      * @param[in] type OBIMUSampleRate type.
+     *
      * @return OBIMUSampleRate of "string" type.
      */
     static std::string convertOBIMUSampleRateTypeToString(const OBIMUSampleRate &type) {
@@ -67,6 +72,7 @@ public:
      * @brief Convert OBGyroFullScaleRange to " string " type and then return.
      *
      * @param[in] type OBGyroFullScaleRange type.
+     *
      * @return OBGyroFullScaleRange of "string" type.
      */
     static std::string convertOBGyroFullScaleRangeTypeToString(const OBGyroFullScaleRange &type) {
@@ -77,6 +83,7 @@ public:
      * @brief Convert OBAccelFullScaleRange to " string " type and then return.
      *
      * @param[in] type OBAccelFullScaleRange type.
+     *
      * @return OBAccelFullScaleRange of "string" type.
      */
     static std::string convertOBAccelFullScaleRangeTypeToString(const OBAccelFullScaleRange &type) {
@@ -87,6 +94,7 @@ public:
      * @brief Convert OBFrameMetadataType to " string " type and then return.
      *
      * @param[in] type OBFrameMetadataType type.
+     *
      * @return OBFrameMetadataType of "string" type.
      */
     static std::string convertOBFrameMetadataTypeToString(const OBFrameMetadataType &type) {
@@ -97,6 +105,7 @@ public:
      * @brief Convert OBSensorType to OBStreamType type and then return.
      *
      * @param[in] type OBSensorType type.
+     *
      * @return OBStreamType type.
      */
     static OBStreamType convertSensorTypeToStreamType(OBSensorType type) {
@@ -114,9 +123,9 @@ public:
      *      OB_SENSOR_IR_RIGHT,
      *      OB_SENSOR_CONFIDENCE,
      *
-     * @param type The sensor type
-     * @return true
-     * @return false
+     * @param[in] type The sensor type
+     *
+     * @return true/false
      */
     static bool isVideoSensorType(OBSensorType type) {
         return ob_is_video_sensor_type(type);
@@ -134,7 +143,8 @@ public:
      *      OB_STREAM_IR_RIGHT,
      *      OB_STREAM_CONFIDENCE,
      *
-     * @param type The stream type to check.
+     * @param[in] type The stream type to check.
+     *
      * @return true if the given stream type is a video stream, false otherwise.
      */
     static bool isVideoStreamType(OBStreamType type) {
diff --git a/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake b/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake
index 79983da6..2ffee4a5 100644
--- a/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake
+++ b/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake
@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.5"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.0"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.5" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.0" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfigVersion.cmake b/orbbec_camera/SDK/lib/arm64/OrbbecSDKVersion.cmake
similarity index 96%
rename from orbbec_camera/SDK/lib/arm64/OrbbecSDKConfigVersion.cmake
rename to orbbec_camera/SDK/lib/arm64/OrbbecSDKVersion.cmake
index fb19e153..b2208ca9 100644
--- a/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfigVersion.cmake
+++ b/orbbec_camera/SDK/lib/arm64/OrbbecSDKVersion.cmake
@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "2.5.5")
+set(PACKAGE_VERSION "2.6.0")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.5.5" MATCHES "^([0-9]+)\\.")
+  if("2.6.0" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "2.5.5")
+    set(CVF_VERSION_MAJOR "2.6.0")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)
diff --git a/orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so b/orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so
index 309f7a95..e80ad6f9 100644
Binary files a/orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so and b/orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so differ
diff --git a/orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so b/orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so
index 1f63a27c..45b9ba6c 100644
Binary files a/orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so and b/orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so differ
diff --git a/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so b/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so
index 4a89a3d6..cdd35e81 100644
Binary files a/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so and b/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so differ
diff --git a/orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so b/orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so
index 7d5cf107..1b76c54e 100644
Binary files a/orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so and b/orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so differ
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2
index ced47419..d0f741d3 120000
--- a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2
+++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2
@@ -1 +1 @@
-libOrbbecSDK.so.2.5.5
\ No newline at end of file
+libOrbbecSDK.so.2.6.0
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.5.5 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.6.0
similarity index 63%
rename from orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.5.5
rename to orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.6.0
index 164a7eb9..f9e864bb 100644
Binary files a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.5.5 and b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.6.0 differ
diff --git a/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake b/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake
index 79983da6..2ffee4a5 100644
--- a/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake
+++ b/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake
@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.5"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.0"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.5" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.0" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/orbbec_camera/SDK/lib/x64/OrbbecSDKConfigVersion.cmake b/orbbec_camera/SDK/lib/x64/OrbbecSDKVersion.cmake
similarity index 96%
rename from orbbec_camera/SDK/lib/x64/OrbbecSDKConfigVersion.cmake
rename to orbbec_camera/SDK/lib/x64/OrbbecSDKVersion.cmake
index fb19e153..b2208ca9 100644
--- a/orbbec_camera/SDK/lib/x64/OrbbecSDKConfigVersion.cmake
+++ b/orbbec_camera/SDK/lib/x64/OrbbecSDKVersion.cmake
@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "2.5.5")
+set(PACKAGE_VERSION "2.6.0")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.5.5" MATCHES "^([0-9]+)\\.")
+  if("2.6.0" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "2.5.5")
+    set(CVF_VERSION_MAJOR "2.6.0")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)
diff --git a/orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so b/orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so
index dd7f39cb..c8e93a36 100644
Binary files a/orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so and b/orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so differ
diff --git a/orbbec_camera/SDK/lib/x64/extensions/filters/libob_priv_filter.so b/orbbec_camera/SDK/lib/x64/extensions/filters/libob_priv_filter.so
index 6b53f821..f7c7656c 100644
Binary files a/orbbec_camera/SDK/lib/x64/extensions/filters/libob_priv_filter.so and b/orbbec_camera/SDK/lib/x64/extensions/filters/libob_priv_filter.so differ
diff --git a/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so b/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so
index 5ab21c2e..470d5f24 100644
Binary files a/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so and b/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so differ
diff --git a/orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so b/orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so
index 8ba3af28..5c82a8b6 100644
Binary files a/orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so and b/orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so differ
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2
index ced47419..d0f741d3 120000
--- a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2
+++ b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2
@@ -1 +1 @@
-libOrbbecSDK.so.2.5.5
\ No newline at end of file
+libOrbbecSDK.so.2.6.0
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.5.5 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.6.0
similarity index 63%
rename from orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.5.5
rename to orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.6.0
index 8f1c6fa8..17379b25 100644
Binary files a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.5.5 and b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.6.0 differ
diff --git a/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml b/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
index 557ef966..0b4778df 100644
--- a/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
+++ b/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
@@ -12,7 +12,7 @@
         <!-- Console log output level -->
         <ConsoleLogLevel>3</ConsoleLogLevel>
         <!-- Default log output file path, string type. If this item is not configured, the default
-        path will be used: Win/Linux: "./Log"; Android: "/sdcard/orbbec/Log" -->
+        path will be used: Win/Linux: "./Log"; Android: "/sdcard/3DCamera/Log" -->
         <!-- <OutputDir>./log</OutputDir> -->
         <!-- Default log output file size, int type, unit: MB -->
         <MaxFileSize>100</MaxFileSize>
diff --git a/orbbec_camera/scripts/99-obsensor-libusb.rules b/orbbec_camera/scripts/99-obsensor-libusb.rules
index 6ea8f08f..60a95bbf 100644
--- a/orbbec_camera/scripts/99-obsensor-libusb.rules
+++ b/orbbec_camera/scripts/99-obsensor-libusb.rules
@@ -1,4 +1,4 @@
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0501", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Bootloader Device"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0501", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Bootloader_Device"
 
 # UVC Modules
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0635", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto"
@@ -12,9 +12,9 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0669", MODE:="066
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="066b", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto_Bolt"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0660", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Astra_2"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0670", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_2"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0671", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_2 XL"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0673", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_2 L"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0675", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_2 VL"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0671", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_2_XL"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0673", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_2_L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0675", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_2_VL"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0800", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_335"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0801", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_330"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0802", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_dm330"
@@ -38,11 +38,10 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0812", MODE:="066
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0813", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_345Lg"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0816", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="CAM-5330"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0817", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="CAM-5530"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="065b", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="astra_mini_pro"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="065e", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="astra_mini_s_pro"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0818", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_338"
 
 # OpenNI Modules
+SUBSYSTEM=="usb", ATTR{idProduct}=="0400", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_bootloader"
 SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra"
 SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_s"
 SUBSYSTEM=="usb", ATTR{idProduct}=="0403", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_pro"