diff --git a/orbbec_camera/SDK/include/libobsensor/h/Frame.h b/orbbec_camera/SDK/include/libobsensor/h/Frame.h
index b589f081..16bd4629 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/Property.h b/orbbec_camera/SDK/include/libobsensor/h/Property.h
index 52ca0ffd..bf86493d 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Property.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Property.h
@@ -592,6 +592,11 @@ typedef enum {
      */
     OB_PROP_SKIP_FRAME_BOOL = 2036,
 
+    /**
+     * @brief Color camera FOCUS
+     */
+    OB_PROP_COLOR_FOCUS_INT = 2037,
+
     /**
      * @brief Software disparity to depth
      */
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
index 28604f38..f8430b3e 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
@@ -108,6 +108,14 @@ 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/lib/arm32/libOrbbecSDK.so.1.9 b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9
index 76622403..ef4c1e1f 120000
--- a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9
+++ b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9
@@ -1 +1 @@
-libOrbbecSDK.so.1.9.4
\ No newline at end of file
+libOrbbecSDK.so.1.9.7
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9.4 b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9.7
similarity index 67%
rename from orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9.4
rename to orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9.7
index 5a450661..3a2c5ead 100644
Binary files a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9.4 and b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9.7 differ
diff --git a/orbbec_camera/SDK/lib/arm32/libudev.so b/orbbec_camera/SDK/lib/arm32/libudev.so
deleted file mode 120000
index d38ce683..00000000
--- a/orbbec_camera/SDK/lib/arm32/libudev.so
+++ /dev/null
@@ -1 +0,0 @@
-libudev.so.1.6.3
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm32/libudev.so.1 b/orbbec_camera/SDK/lib/arm32/libudev.so.1
deleted file mode 120000
index d38ce683..00000000
--- a/orbbec_camera/SDK/lib/arm32/libudev.so.1
+++ /dev/null
@@ -1 +0,0 @@
-libudev.so.1.6.3
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm32/libudev.so.1.6.3 b/orbbec_camera/SDK/lib/arm32/libudev.so.1.6.3
deleted file mode 100644
index 355db088..00000000
Binary files a/orbbec_camera/SDK/lib/arm32/libudev.so.1.6.3 and /dev/null differ
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9
index 76622403..ef4c1e1f 120000
--- a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9
+++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9
@@ -1 +1 @@
-libOrbbecSDK.so.1.9.4
\ No newline at end of file
+libOrbbecSDK.so.1.9.7
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9.4 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9.7
similarity index 62%
rename from orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9.4
rename to orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9.7
index b73f5d5e..7ec29ba9 100644
Binary files a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9.4 and b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9.7 differ
diff --git a/orbbec_camera/SDK/lib/arm64/libudev.so b/orbbec_camera/SDK/lib/arm64/libudev.so
deleted file mode 120000
index d38ce683..00000000
--- a/orbbec_camera/SDK/lib/arm64/libudev.so
+++ /dev/null
@@ -1 +0,0 @@
-libudev.so.1.6.3
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm64/libudev.so.1 b/orbbec_camera/SDK/lib/arm64/libudev.so.1
deleted file mode 120000
index d38ce683..00000000
--- a/orbbec_camera/SDK/lib/arm64/libudev.so.1
+++ /dev/null
@@ -1 +0,0 @@
-libudev.so.1.6.3
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm64/libudev.so.1.6.3 b/orbbec_camera/SDK/lib/arm64/libudev.so.1.6.3
deleted file mode 100644
index c1577c84..00000000
Binary files a/orbbec_camera/SDK/lib/arm64/libudev.so.1.6.3 and /dev/null differ
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9
index 76622403..ef4c1e1f 120000
--- a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9
+++ b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9
@@ -1 +1 @@
-libOrbbecSDK.so.1.9.4
\ No newline at end of file
+libOrbbecSDK.so.1.9.7
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9.4 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9.7
similarity index 63%
rename from orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9.4
rename to orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9.7
index 962df9d5..fa65e539 100644
Binary files a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9.4 and b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9.7 differ