diff --git a/orbbec_camera/SDK/include/libobsensor/h/Property.h b/orbbec_camera/SDK/include/libobsensor/h/Property.h
index 67538b2c..7600968c 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Property.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Property.h
@@ -874,6 +874,12 @@ typedef enum {
      * @brief Confidence degree
      */
     OB_PROP_DEBUG_ESGM_CONFIDENCE_FLOAT = 5013,
+
+    /**
+     * @brief Color camera CCI denoising level. 0: Auto; 1-8: higher values indicate stronger denoising.
+     * @note This setting has no effect when AE (Auto Exposure) is disabled.
+     */
+    OB_PROP_COLOR_DENOISING_LEVEL_INT = 5525,
 } OBPropertyID,
     ob_property_id;
 
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Version.h b/orbbec_camera/SDK/include/libobsensor/h/Version.h
index b117a2f2..874e7df2 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Version.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Version.h
@@ -19,28 +19,28 @@ extern "C" {
  *
  * @return int The SDK version number.
  */
-OB_EXPORT int ob_get_version();
+OB_EXPORT int ob_get_version(void);
 
 /**
  * @brief Get the SDK major version number.
  *
  * @return int The SDK major version number.
  */
-OB_EXPORT int ob_get_major_version();
+OB_EXPORT int ob_get_major_version(void);
 
 /**
  * @brief Get the SDK minor version number.
  *
  * @return int The SDK minor version number.
  */
-OB_EXPORT int ob_get_minor_version();
+OB_EXPORT int ob_get_minor_version(void);
 
 /**
  * @brief Get the SDK patch version number.
  *
  * @return int The SDK patch version number.
  */
-OB_EXPORT int ob_get_patch_version();
+OB_EXPORT int ob_get_patch_version(void);
 
 /**
  * @brief Get the SDK stage version.
@@ -48,7 +48,7 @@ OB_EXPORT int ob_get_patch_version();
  *
  * @return const char* The SDK stage version.
  */
-OB_EXPORT const char *ob_get_stage_version();
+OB_EXPORT const char *ob_get_stage_version(void);
 
 #ifdef __cplusplus
 }
diff --git a/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake b/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake
index 0d20c8fc..b87f3d80 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 "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.0"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.1"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.0" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.1" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so b/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so
index f060a8df..4a89a3d6 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/libOrbbecSDK.so.2 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2
index 318126cb..c7fdc908 120000
--- a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2
+++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2
@@ -1 +1 @@
-libOrbbecSDK.so.2.5.0
\ No newline at end of file
+libOrbbecSDK.so.2.5.1
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.5.0 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.5.1
similarity index 65%
rename from orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.5.0
rename to orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.5.1
index 81422b1f..ec38421d 100644
Binary files a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.5.0 and b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.5.1 differ
diff --git a/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake b/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake
index 0d20c8fc..b87f3d80 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 "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.0"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.1"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.0" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.1" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so b/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so
index dbb649f1..5ab21c2e 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/libOrbbecSDK.so.2 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2
index 318126cb..c7fdc908 120000
--- a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2
+++ b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2
@@ -1 +1 @@
-libOrbbecSDK.so.2.5.0
\ No newline at end of file
+libOrbbecSDK.so.2.5.1
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.5.0 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.5.1
similarity index 65%
rename from orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.5.0
rename to orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.5.1
index 811f41c1..af8ca11b 100644
Binary files a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.5.0 and b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.5.1 differ
diff --git a/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml b/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
index 56af9080..cd880236 100644
--- a/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
+++ b/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
@@ -1440,8 +1440,8 @@
             </Misc>
 
             <DepthPostProcessing>
-                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
-                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
+                <HardwareNoiseRemoveFilter>true</HardwareNoiseRemoveFilter>
+                <SoftwareNoiseRemoveFilter>false</SoftwareNoiseRemoveFilter>
             </DepthPostProcessing>
 
             <!-- Whether to enable heartbeat by default -->
diff --git a/orbbec_camera/package.xml b/orbbec_camera/package.xml
index f60409f9..e92d4915 100644
--- a/orbbec_camera/package.xml
+++ b/orbbec_camera/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>orbbec_camera</name>
-  <version>2.4.8</version>
+  <version>2.5.1</version>
   <description>Orbbec Camera package</description>
   <maintainer email="mocun@orbbec.com">Joe Dong</maintainer>
   <license>Apache-2.0</license>