diff --git a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
index 535eea4e..85d79ed9 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
@@ -465,16 +465,23 @@ typedef enum {
     FORMAT_I420_TO_RGB888,     /**< \if English I420 to RGB888 \else I420转换为RGB888 \endif */
     FORMAT_NV21_TO_RGB888,     /**< \if English NV21 to RGB888 \else NV21转换为RGB888 \endif */
     FORMAT_NV12_TO_RGB888,     /**< \if English NV12 to RGB888 \else NV12转换为RGB888 \endif */
-    FORMAT_MJPEG_TO_I420,      /**< \if English MJPG to I420 \else MJPG转换为I420\endif */
+    FORMAT_MJPG_TO_I420,      /**< \if English MJPG to I420 \else MJPG转换为I420\endif */
     FORMAT_RGB888_TO_BGR,      /**< \if English RGB888 to BGR \else RGB888转换为BGR \endif */
-    FORMAT_MJPEG_TO_NV21,      /**< \if English MJPG to NV21 \else MJPG转换为NV21 \endif */
-    FORMAT_MJPEG_TO_RGB888,    /**< \if English MJPG to RGB888 \else MJPG转换为RGB888 \endif */
-    FORMAT_MJPEG_TO_BGR888,    /**< \if English MJPG to BGR888 \else MJPG转换为BGR888 \endif */
-    FORMAT_MJPEG_TO_BGRA,      /**< \if English MJPG to BGRA \else MJPG转换为BGRA \endif */
+    FORMAT_MJPG_TO_NV21,      /**< \if English MJPG to NV21 \else MJPG转换为NV21 \endif */
+    FORMAT_MJPG_TO_RGB888,    /**< \if English MJPG to RGB888 \else MJPG转换为RGB888 \endif */
+    FORMAT_MJPG_TO_BGR888,    /**< \if English MJPG to BGR888 \else MJPG转换为BGR888 \endif */
+    FORMAT_MJPG_TO_BGRA,      /**< \if English MJPG to BGRA \else MJPG转换为BGRA \endif */
     FORMAT_UYVY_TO_RGB888,     /**< \if English UYVY to RGB888 \else MJPG转换为RGB888 \endif */
 } OBConvertFormat,
     ob_convert_format;
 
+// DEPRECATED: 仅用于旧版本程序兼容，会在后续迭代版本彻底删除
+#define FORMAT_MJPEG_TO_I420 FORMAT_MJPG_TO_I420
+#define FORMAT_MJPEG_TO_NV21 FORMAT_MJPG_TO_NV21
+#define FORMAT_MJPEG_TO_RGB888 FORMAT_MJPG_TO_RGB888
+#define FORMAT_MJPEG_TO_BGR888 FORMAT_MJPG_TO_BGR888
+#define FORMAT_MJPEG_TO_BGRA FORMAT_MJPG_TO_BGRA
+
 /**
  * \if English
  * @brief Enumeration of IMU sample rate values ​​(gyroscope or accelerometer)
diff --git a/orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h b/orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h
index 2f619050..79b65508 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h
@@ -171,8 +171,8 @@ ob_gyro_sample_rate ob_gyro_stream_profile_sample_rate(ob_stream_profile *profil
 
 /**
  * \if English
- * @brief Match the corresponding ob_stream_profile through the passed parameters. If there are multiple matches, the first one in the list will be returned by
- * default.
+ * @brief Match the corresponding ob_stream_profile through the passed parameters. If there are multiple matches,
+ * the first one in the list will be returned by default. If no matched profile found, will return error!
  *
  * @param profile_list Resolution list
  * @param width Width, if you don't need to add matching conditions, you can pass 0
@@ -182,7 +182,7 @@ ob_gyro_sample_rate ob_gyro_stream_profile_sample_rate(ob_stream_profile *profil
  * @param[out] error Log error messages
  * @return ob_stream_profile* returns the matching profile
  * \else
- * @brief 通过传入的参数进行匹配对应的ob_stream_profile，若有多个匹配项默认返回列表中的第一个
+ * @brief 通过传入的参数进行匹配对应的ob_stream_profile。若有多个匹配项默认返回列表中的第一个, 若未找打匹配的项，则返回错误。
  *
  * @param profile_list 分辨率列表
  * @param width 宽度, 如不要求加入匹配条件，可传0
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp
index 130b5c84..a7c55929 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp
@@ -20,7 +20,7 @@ class Device;
 class Frame;
 class DeviceInfo;
 
-using PlaybackCallback   = std::function<void(std::shared_ptr<Frame> frame, void *pCookies)>;
+using PlaybackCallback = std::function<void(std::shared_ptr<Frame> frame)>;
 using MediaStateCallback = std::function<void(OBMediaState state)>;
 
 class OB_EXTENSION_API Recorder {
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp
index 73ceb72f..e12efb77 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp
@@ -259,8 +259,8 @@ public:
 
     /**
      * \if English
-     * @brief Match the corresponding streamprofile through the passed in parameters. If there are multiple matches, the first one in the list will be returned
-     * by default.
+     * @brief Match the corresponding stream profile through the passed in parameters. If there are multiple matches,
+     * the first one in the list will be returned by default. If no matched profile found, will throw exception!
      *
      * @param width Width. If no matching condition is required, it can be passed to 0
      * @param height Height. If no matching condition is required, it can be passed to 0
@@ -268,7 +268,7 @@ public:
      * @param fps Frame rate. If no matching condition is required, it can be passed to 0
      * @return std::shared_ptr<StreamProfile> Returns the matching resolution
      * \else
-     * @brief 通过传入的参数进行匹配对应的StreamProfile，若有多个匹配项默认返回列表中的第一个
+     * @brief 通过传入的参数进行匹配对应的StreamProfile。若有多个匹配项默认返回列表中的第一个, 若没有找到匹配的项，则抛异常
      *
      * @param width 宽度，如不要求加入匹配条件，可传0
      * @param height 高度，如不要求加入匹配条件，可传0
diff --git a/orbbec_camera/SDK/lib/arm/libOrbbecSDK.so b/orbbec_camera/SDK/lib/arm/libOrbbecSDK.so
new file mode 100644
index 00000000..f841f4cf
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm/libOrbbecSDK.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d41cda2dac907f1eaeac1c69d504f6a9d010ac3d04830df6226188ab434dcbe9
+size 57339536
diff --git a/orbbec_camera/SDK/lib/arm/libOrbbecSDK.so.1.4 b/orbbec_camera/SDK/lib/arm/libOrbbecSDK.so.1.4
new file mode 100644
index 00000000..f841f4cf
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm/libOrbbecSDK.so.1.4
@@ -0,0 +1,3 @@
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+oid sha256:d41cda2dac907f1eaeac1c69d504f6a9d010ac3d04830df6226188ab434dcbe9
+size 57339536
diff --git a/orbbec_camera/SDK/lib/arm/libOrbbecSDK.so.1.4.3 b/orbbec_camera/SDK/lib/arm/libOrbbecSDK.so.1.4.3
new file mode 100644
index 00000000..f841f4cf
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm/libOrbbecSDK.so.1.4.3
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+size 57339536
diff --git a/orbbec_camera/SDK/lib/arm/libudev.so b/orbbec_camera/SDK/lib/arm/libudev.so
new file mode 100644
index 00000000..219aa8eb
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm/libudev.so
@@ -0,0 +1,3 @@
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+oid sha256:e7d26d49c9b4070ae14c514fe7bdc92846c0b579a7a7c77ce63481ad0d26ae59
+size 569372
diff --git a/orbbec_camera/SDK/lib/arm/libudev.so.1 b/orbbec_camera/SDK/lib/arm/libudev.so.1
new file mode 100644
index 00000000..219aa8eb
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm/libudev.so.1
@@ -0,0 +1,3 @@
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+oid sha256:e7d26d49c9b4070ae14c514fe7bdc92846c0b579a7a7c77ce63481ad0d26ae59
+size 569372
diff --git a/orbbec_camera/SDK/lib/arm/libudev.so.1.6.3 b/orbbec_camera/SDK/lib/arm/libudev.so.1.6.3
new file mode 100644
index 00000000..219aa8eb
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm/libudev.so.1.6.3
@@ -0,0 +1,3 @@
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diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so
new file mode 100644
index 00000000..1460a432
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so
@@ -0,0 +1,3 @@
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+size 67023720
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.4 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.4
new file mode 100644
index 00000000..1460a432
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.4
@@ -0,0 +1,3 @@
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diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.4.3 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.4.3
new file mode 100644
index 00000000..1460a432
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.4.3
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diff --git a/orbbec_camera/SDK/lib/arm64/libudev.so b/orbbec_camera/SDK/lib/arm64/libudev.so
new file mode 100644
index 00000000..cd839477
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm64/libudev.so
@@ -0,0 +1,3 @@
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diff --git a/orbbec_camera/SDK/lib/arm64/libudev.so.1 b/orbbec_camera/SDK/lib/arm64/libudev.so.1
new file mode 100644
index 00000000..cd839477
--- /dev/null
+++ b/orbbec_camera/SDK/lib/arm64/libudev.so.1
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new file mode 100644
index 00000000..cd839477
--- /dev/null
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new file mode 100644
index 00000000..23f90ce7
--- /dev/null
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new file mode 100644
index 00000000..23f90ce7
--- /dev/null
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