diff --git a/orbbec_camera/SDK/include/libobsensor/h/Filter.h b/orbbec_camera/SDK/include/libobsensor/h/Filter.h
index 030816d7..8705b1a6 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Filter.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Filter.h
@@ -297,6 +297,69 @@ void ob_noise_removal_filter_set_filter_params(ob_filter *filter, ob_noise_remov
  */
 ob_noise_removal_filter_params ob_noise_removal_filter_get_filter_params(ob_filter *filter, ob_error **error);
 
+/**
+ * @brief Create a edge noise removal filter.
+ * @param[out] error Log error messages.
+ * @return A depth_filter object.
+ */
+ob_filter *ob_create_edge_noise_removal_filter(ob_error **error);
+
+/**
+ * @brief Set the edge noise removal filter params.
+ *
+ * @param[in] filter edge noise removal filter object.
+ * @param[in] params ob_edge_noise_removal_filter_params.
+ * @param[out] error Log error messages.
+ */
+void ob_edge_noise_removal_filter_set_filter_params(ob_filter *filter, ob_edge_noise_removal_filter_params params, ob_error **error);
+
+/**
+ * @brief Get the edge noise removal filter params.
+ *
+ * @param[in] filter edge noise removal filter object.
+ * @param[out] error Log error messages.
+ * @return ob_edge_noise_removal_filter_params.
+ */
+ob_edge_noise_removal_filter_params ob_edge_noise_removal_filter_get_filter_params(ob_filter *filter, ob_error **error);
+
+
+/**
+ * @brief Get the noise removal filter margin left th range.
+ *
+ * @param[in] filter A edge noise removal filter object.
+ * @param[out] error Log error messages.
+ * @return ob_uint16_property_range the margin_left_th value of property range.
+ */
+ob_uint16_property_range ob_edge_noise_removal_filter_get_margin_left_th_range(ob_filter *filter, ob_error **error);
+
+/**
+ * @brief Get the noise removal filter margin right th range.
+ *
+ * @param[in] filter A edge noise removal filter object.
+ * @param[out] error Log error messages.
+ * @return ob_uint16_property_range the margin_right_th value of property range.
+ */
+ob_uint16_property_range ob_edge_noise_removal_filter_get_margin_right_th_range(ob_filter *filter, ob_error **error);
+
+/**
+ * @brief Get the noise removal filter margin top th range.
+ *
+ * @param[in] filter A edge noise removal filter object.
+ * @param[out] error Log error messages.
+ * @return ob_uint16_property_range the margin_top_th value of property range.
+ */
+ob_uint16_property_range ob_edge_noise_removal_filter_get_margin_top_th_range(ob_filter *filter, ob_error **error);
+
+/**
+ * @brief Get the noise removal filter margin bottom th range.
+ *
+ * @param[in] filter A edge noise removal filter object.
+ * @param[out] error Log error messages.
+ * @return ob_uint16_property_range the margin_bottom_th value of property range.
+ */
+ob_uint16_property_range ob_edge_noise_removal_filter_get_margin_bottom_th_range(ob_filter *filter, ob_error **error);
+
+
 /**
  * @brief Create a decimation filter.
  * @param[out] error Log error messages.
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Frame.h b/orbbec_camera/SDK/include/libobsensor/h/Frame.h
index 43a2e7d2..c4eec8f9 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Frame.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Frame.h
@@ -68,6 +68,16 @@ uint64_t ob_frame_time_stamp_us(ob_frame *frame, ob_error **error);
  */
 uint64_t ob_frame_system_time_stamp(ob_frame *frame, ob_error **error);
 
+/**
+ * @brief Get the system timestamp of the frame in microseconds.
+ * @brief The system timestamp is the time point when the frame was received by the host, on host clock domain.
+ *
+ * @param[in] frame Frame object
+ * @param[out] error Log error messages
+ * @return uint64_t return the frame system timestamp in microseconds
+ */
+uint64_t ob_frame_system_time_stamp_us(ob_frame *frame, ob_error **error);
+
 /**
  * @brief Get the global timestamp of the frame in microseconds.
  * @brief The global timestamp is the time point when the frame was was captured by the device, and has been converted to the host clock domain. The
diff --git a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
index 2bccdd23..7a5f1ce2 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
@@ -965,6 +965,22 @@ typedef struct {
     uint16_t radius;     // hole_fill
 } OBSpatialAdvancedFilterParams, ob_spatial_advanced_filter_params;
 
+typedef enum OB_EDGE_NOISE_REMOVAL_TYPE {
+    OB_MG_FILTER = 0,
+    OB_MGH_FILTER = 1,  // horizontal MG
+    OB_MGA_FILTER = 2,  // asym MG
+    OB_MGC_FILTER = 3,
+} OBEdgeNoiseRemovalType,
+    ob_edge_noise_removal_type;
+
+typedef struct {
+    OBEdgeNoiseRemovalType type;
+    uint16_t               marginLeftTh;
+    uint16_t               marginRightTh;
+    uint16_t               marginTopTh;
+    uint16_t               marginBottomTh;
+} OBEdgeNoiseRemovalFilterParams, ob_edge_noise_removal_filter_params;
+
 /**
  * @brief 去噪方式
  */
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Property.h b/orbbec_camera/SDK/include/libobsensor/h/Property.h
index cdffd75e..9f6cab5b 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Property.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Property.h
@@ -651,6 +651,11 @@ typedef enum {
      */
     OB_PROP_HDR_MERGE_BOOL = 2037,
 
+    /**
+     * @brief Color camera FOCUS
+     */
+    OB_PROP_COLOR_FOCUS_INT = 2038,
+
     /**
      * @brief Software disparity to depth
      */
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Utils.h b/orbbec_camera/SDK/include/libobsensor/h/Utils.h
index 702dfa5d..b0dc071c 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Utils.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Utils.h
@@ -37,6 +37,23 @@ bool ob_calibration_3d_to_3d(const ob_calibration_param calibration_param, const
 bool ob_calibration_2d_to_3d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
                              const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
 
+/**
+ * @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
+ *
+ * @param[in] calibration_param Device calibration param,see pipeline::getCalibrationParam
+ * @param[in] source_point2f Source 2d point value
+ * @param[in] source_depth_pixel_value The depth of sourcePoint2f in millimeters
+ * @param[in] source_sensor_type Source sensor type
+ * @param[in] target_sensor_type Target sensor type
+ * @param[out] target_point3f Target 3d point value
+ * @param[out] error Log error messages
+ *
+ * @return bool Transform result
+ */
+bool ob_calibration_2d_to_3d_undistortion(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
+                                          const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f,
+                                          ob_error **error);
+
 /**
  * @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
  *
@@ -88,7 +105,7 @@ ob_frame *transformation_depth_frame_to_color_camera(ob_device *device, ob_frame
  * @param[in] calibration_param Device calibration param,see pipeline::getCalibrationParam
  * @param[in] sensor_type sensor type
  * @param[in] data input data,needs to be allocated externally.During initialization, the external allocation size is 'data_size', for example, data_size = 1920
- * * 1080 * 2 (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
+ * * 1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
  * @param[in] data_size input data size
  * @param[out] xy_tables output xy tables
  * @param[out] error Log error messages
@@ -108,6 +125,18 @@ bool transformation_init_xy_tables(const ob_calibration_param calibration_param,
  */
 void transformation_depth_to_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error);
 
+/**
+ * @brief Transform depth image to point cloud data
+ *
+ * @param[in] xy_tables input xy tables,see transformation_init_xy_tables
+ * @param[in] depth_image_data input depth image data
+ * @param[in] color_image_data input color image data (only RGB888 support)
+ * @param[out] pointcloud_data output point cloud data
+ * @param[out] error Log error messages
+ */
+void transformation_depth_to_rgbd_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, const void *color_image_data, void *pointcloud_data,
+                                             ob_error **error);
+
 #ifdef __cplusplus
 }
 #endif
\ No newline at end of file
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp
index 71ddc63c..d646dfc8 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp
@@ -474,6 +474,53 @@ public:
     OBUint8PropertyRange getScaleRange();
 };
 
+/**
+ * @brief The edge noise removal filter,removing scattering depth pixels.
+ */
+class OB_EXTENSION_API EdgeNoiseRemovalFilter : public Filter {
+public:
+    EdgeNoiseRemovalFilter();
+
+    /**
+     * @brief Set the edge noise removal filter params.
+     *
+     * @param[in] params ob_edge_noise_removal_filter_params.
+     */
+    void setFilterParams(OBEdgeNoiseRemovalFilterParams filterParams);
+
+    /**
+     * @brief Get the edge noise removal filter params.
+     *
+     * @return OBEdgeNoiseRemovalFilterParams.
+     */
+    OBEdgeNoiseRemovalFilterParams getFilterParams();
+
+    /**
+     * @brief Get the edge noise removal filter margin left th range.
+     * @return OBUint16PropertyRange The disp diff of property range.
+     */
+    OBUint16PropertyRange getMarginLeftThRange();
+
+    /**
+     * @brief Get the edge noise removal filter margin right th range.
+     * @return OBUint16PropertyRange The max size of property range.
+     */
+    OBUint16PropertyRange getMarginRightThRange();
+
+    /**
+     * @brief Get the edge noise removal filter margin top th range.
+     * @return OBUint16PropertyRange The disp diff of property range.
+     */
+    OBUint16PropertyRange getMarginTopThRange();
+
+    /**
+     * @brief Get the edge noise removal filter margin bottom th range.
+     * @return OBUint16PropertyRange The max size of property range.
+     */
+    OBUint16PropertyRange getMarginBottomThRange();
+};
+
+
 // Define the is() template function for the Filter class
 template <typename T> bool Filter::is() {
     std::string name = type();
@@ -519,6 +566,9 @@ template <typename T> bool Filter::is() {
     if(name == "Align") {
         return typeid(T) == typeid(Align);
     }
+    if(name == "EdgeNoiseRemovalFilter") {
+        return typeid(T) == typeid(Align);
+    }
     return false;
 }
 
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
index 5151611a..f5b57982 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
@@ -110,6 +110,14 @@ public:
      */
     uint64_t systemTimeStamp();
 
+    /**
+     * @brief Get the system timestamp of the frame in microseconds.
+     * @brief The system timestamp is the time point when the frame was received by the host, on host clock domain.
+     *
+     * @return uint64_t The system timestamp of the frame in microseconds.
+     */
+    uint64_t systemTimeStampUs();
+
     /**
      * @brief Get the global timestamp of the frame in microseconds.
      * @brief The global timestamp is the time point when the frame was was captured by the device, and has been converted to the host clock domain. The
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp
index 28034372..567dbf0b 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp
@@ -105,7 +105,7 @@ public:
      * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
      * @param sensorType sensor type
      * @param data input data,needs to be allocated externally.During initialization, the external allocation size is 'dataSize', for example, dataSize = 1920 *
-     * 1080 * 2 (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
+     * 1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
      * @param dataSize input data size
      * @param xyTables output xy tables
      *
@@ -123,5 +123,16 @@ public:
      *
      */
     static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData, void *pointCloudData);
+
+    /**
+     * @brief Transform depth image to RGBD point cloud data
+     *
+     * @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
+     * @param depthImageData input depth image data
+     * @param colorImageData input color image data (only RGB888 support)
+     * @param pointCloudData output RGBD point cloud data
+     *
+     */
+    static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData);
 };
 }  // namespace ob
diff --git a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so
index cbc0ec35..1ae2c0e8 120000
--- a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so
+++ b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so
@@ -1 +1 @@
-libOrbbecSDK.so.1.9
\ No newline at end of file
+libOrbbecSDK.so.1.10
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10 b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10
new file mode 120000
index 00000000..7b054f6b
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10
@@ -0,0 +1 @@
+libOrbbecSDK.so.1.10.0
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9.2 b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.0
similarity index 61%
rename from orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9.2
rename to orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.0
index 92073385..27ac2430 100644
Binary files a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9.2 and b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.0 differ
diff --git a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9 b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9
deleted file mode 120000
index 57c26c77..00000000
--- a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9
+++ /dev/null
@@ -1 +0,0 @@
-libOrbbecSDK.so.1.9.2
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so
index cbc0ec35..1ae2c0e8 120000
--- a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so
+++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so
@@ -1 +1 @@
-libOrbbecSDK.so.1.9
\ No newline at end of file
+libOrbbecSDK.so.1.10
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10
new file mode 120000
index 00000000..7b054f6b
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10
@@ -0,0 +1 @@
+libOrbbecSDK.so.1.10.0
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9.2 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10.0
similarity index 58%
rename from orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9.2
rename to orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10.0
index bca5ba13..f41f128e 100644
Binary files a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9.2 and b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10.0 differ
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9
deleted file mode 120000
index 57c26c77..00000000
--- a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9
+++ /dev/null
@@ -1 +0,0 @@
-libOrbbecSDK.so.1.9.2
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so
index cbc0ec35..1ae2c0e8 120000
--- a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so
+++ b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so
@@ -1 +1 @@
-libOrbbecSDK.so.1.9
\ No newline at end of file
+libOrbbecSDK.so.1.10
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10
new file mode 120000
index 00000000..7b054f6b
--- /dev/null
+++ b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10
@@ -0,0 +1 @@
+libOrbbecSDK.so.1.10.0
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9.2 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10.0
similarity index 59%
rename from orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9.2
rename to orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10.0
index 64d99258..25f3dd23 100644
Binary files a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9.2 and b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10.0 differ
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9
deleted file mode 120000
index 57c26c77..00000000
--- a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9
+++ /dev/null
@@ -1 +0,0 @@
-libOrbbecSDK.so.1.9.2
\ No newline at end of file