diff --git a/orbbec_camera/SDK/include/libobsensor/h/Error.h b/orbbec_camera/SDK/include/libobsensor/h/Error.h
index ffa5e5d6..d814103e 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Error.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Error.h
@@ -24,7 +24,7 @@ ob_status ob_error_status(ob_error *error);
  * @param[in] error The error object.
  * @return The error message.
  */
-const char *ob_error_message(ob_error *error);
+const char *ob_error_message(const ob_error *error);
 
 /**
  * @brief Get the name of the API function that caused the error.
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Property.h b/orbbec_camera/SDK/include/libobsensor/h/Property.h
index 65ae774a..edf573ee 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Property.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Property.h
@@ -384,6 +384,10 @@ typedef enum {
      * @brief Query the status of laser pulse width protection (read-only)
      */
     OB_PROP_LASER_PULSE_WIDTH_PROTECTION_STATUS_BOOL = 149,
+    /**
+     * @brief depth noise removal filter
+     */
+    OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL = 165,
 
     /**
      * @brief Laser always on, true: always on, false: off, laser will be turned off when out of exposure time
@@ -415,23 +419,23 @@ typedef enum {
 
     /**
      * @brief slave device sync status
-    */
-    OB_PROP_SLAVE_DEVICE_SYNC_STATUS_BOOL = 188, 
+     */
+    OB_PROP_SLAVE_DEVICE_SYNC_STATUS_BOOL = 188,
 
-        /**
+    /**
      * @brief Color AE max exposure
-    */
-    OB_PROP_COLOR_AE_MAX_EXPOSURE_INT     = 189, 
+     */
+    OB_PROP_COLOR_AE_MAX_EXPOSURE_INT = 189,
 
     /**
      * @brief IR AE max exposure
-    */
-    OB_PROP_IR_AE_MAX_EXPOSURE_INT        = 190,
+     */
+    OB_PROP_IR_AE_MAX_EXPOSURE_INT = 190,
 
     /**
      * @brief disparity search range mode
-    */
-    OB_PROP_DISP_SEARCH_RANGE_MODE_INT    = 191, 
+     */
+    OB_PROP_DISP_SEARCH_RANGE_MODE_INT = 191,
 
     /**
      * @brief Baseline calibration parameters
@@ -712,6 +716,11 @@ typedef enum {
      */
     OB_PROP_SDK_IR_RIGHT_FRAME_UNPACK_BOOL = 3012,
 
+    /**
+     * @brief depth Margin Filter
+     */
+    OB_PROP_SDK_DEPTH_RECTIFY_MG_FILTER_BOOL = 3013,
+
     /**
      * @brief Calibration JSON file read from device (Femto Mega, read only)
      */
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp
index eefa9cfd..567dbf0b 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp
@@ -6,155 +6,133 @@
 #pragma once
 
 #include "Types.hpp"
-#include "Frame.hpp"
 
 namespace ob {
 class Device;
 
 class OB_EXTENSION_API CoordinateTransformHelper {
- public:
-  /**
-   * @brief Transform a 3d point of a source coordinate system into a 3d point of the target
-   * coordinate system.
-   *
-   * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
-   * @param sourcePoint3f Source 3d point value
-   * @param sourceSensorType Source sensor type
-   * @param targetSensorType Target sensor type
-   * @param targetPoint3f Target 3d point value
-   *
-   * @return bool  Transform result
-   */
-  static bool calibration3dTo3d(const OBCalibrationParam calibrationParam,
-                                const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
-                                const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
+public:
+    /**
+     * @brief Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
+     *
+     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sourcePoint3f Source 3d point value
+     * @param sourceSensorType Source sensor type
+     * @param targetSensorType Target sensor type
+     * @param targetPoint3f Target 3d point value
+     *
+     * @return bool  Transform result
+     */
+    static bool calibration3dTo3d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
+                                  const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
 
-  /**
-   * @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 calibrationParam Device calibration param,see pipeline::getCalibrationParam
-   * @param sourcePoint2f Source 2d point value
-   * @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
-   * @param sourceSensorType Source sensor type
-   * @param targetSensorType Target sensor type
-   * @param targetPoint3f Target 3d point value
-   *
-   * @return bool Transform result
-   */
-  static bool calibration2dTo3d(const OBCalibrationParam calibrationParam,
-                                const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
-                                const OBSensorType sourceSensorType,
-                                const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
+    /**
+     * @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 calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sourcePoint2f Source 2d point value
+     * @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
+     * @param sourceSensorType Source sensor type
+     * @param targetSensorType Target sensor type
+     * @param targetPoint3f Target 3d point value
+     *
+     * @return bool Transform result
+     */
+    static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
+                                  const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
 
-  /**
-   * @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into
-   * a 3d point of the target coordinate system.
-   * @brief This function uses undistortion, which may result in longer processing time.
-   *
-   * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
-   * @param sourcePoint2f Source 2d point value
-   * @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
-   * @param sourceSensorType Source sensor type
-   * @param targetSensorType Target sensor type
-   * @param targetPoint3f Target 3d point value
-   *
-   * @return bool Transform result
-   */
-  static bool calibration2dTo3dUndistortion(const OBCalibrationParam calibrationParam,
-                                            const OBPoint2f sourcePoint2f,
-                                            const float sourceDepthPixelValue,
-                                            const OBSensorType sourceSensorType,
-                                            const OBSensorType targetSensorType,
-                                            OBPoint3f *targetPoint3f);
+    /**
+     * @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
+     * @brief This function uses undistortion, which may result in longer processing time.
+     *
+     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sourcePoint2f Source 2d point value
+     * @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
+     * @param sourceSensorType Source sensor type
+     * @param targetSensorType Target sensor type
+     * @param targetPoint3f Target 3d point value
+     *
+     * @return bool Transform result
+     */
+    static bool calibration2dTo3dUndistortion(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
+                                              const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
 
-  /**
-   * @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the
-   * target camera.
-   *
-   * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
-   * @param sourcePoint3f Source 3d point value
-   * @param sourceSensorType Source sensor type
-   * @param targetSensorType Target sensor type
-   * @param targetPoint2f Target 2d point value
-   *
-   * @return bool Transform result
-   */
-  static bool calibration3dTo2d(const OBCalibrationParam calibrationParam,
-                                const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
-                                const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
+    /**
+     * @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
+     *
+     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sourcePoint3f Source 3d point value
+     * @param sourceSensorType Source sensor type
+     * @param targetSensorType Target sensor type
+     * @param targetPoint2f Target 2d point value
+     *
+     * @return bool Transform result
+     */
+    static bool calibration3dTo2d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
+                                  const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
 
-  /**
-   * @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into
-   * a 2d pixel coordinate of the target camera
-   *
-   * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
-   * @param sourcePoint2f Source 2d point value
-   * @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
-   * @param sourceSensorType Source sensor type
-   * @param targetSensorType Target sensor type
-   * @param targetPoint2f Target 2d point value
-   *
-   * @return bool Transform result
-   */
-  static bool calibration2dTo2d(const OBCalibrationParam calibrationParam,
-                                const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
-                                const OBSensorType sourceSensorType,
-                                const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
+    /**
+     * @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera
+     *
+     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sourcePoint2f Source 2d point value
+     * @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
+     * @param sourceSensorType Source sensor type
+     * @param targetSensorType Target sensor type
+     * @param targetPoint2f Target 2d point value
+     *
+     * @return bool Transform result
+     */
+    static bool calibration2dTo2d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
+                                  const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
 
-  /**
-   * @brief Transforms the depth frame into the geometry of the color camera.
-   *
-   * @param device Device handle
-   * @param depthFrame Input depth frame
-   * @param targetColorCameraWidth Target color camera width
-   * @param targetColorCameraHeight Target color camera height
-   *
-   * @return std::shared_ptr<ob::Frame> Transformed depth frame
-   */
-  static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(
-      std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
-      uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight);
+    /**
+     * @brief Transforms the depth frame into the geometry of the color camera.
+     *
+     * @param device Device handle
+     * @param depthFrame Input depth frame
+     * @param targetColorCameraWidth Target color camera width
+     * @param targetColorCameraHeight Target color camera height
+     *
+     * @return std::shared_ptr<ob::Frame> Transformed depth frame
+     */
+    static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
+                                                                            uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight);
 
-  /**
-   * @brief Init transformation tables
-   *
-   * @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*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
-   *
-   * @return bool Transform result
-   */
-  static bool transformationInitXYTables(const OBCalibrationParam calibrationParam,
-                                         const OBSensorType sensorType, float *data,
-                                         uint32_t *dataSize, OBXYTables *xyTables);
+    /**
+     * @brief Init transformation tables
+     *
+     * @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*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
+     *
+     * @return bool Transform result
+     */
+    static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
+                                           OBXYTables *xyTables);
 
-  /**
-   * @brief Transform depth image to point cloud data
-   *
-   * @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
-   * @param depthImageData input depth image data
-   * @param pointCloudData output point cloud data
-   *
-   */
-  static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData,
-                                              void *pointCloudData);
+    /**
+     * @brief Transform depth image to point cloud data
+     *
+     * @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
+     * @param depthImageData input depth image data
+     * @param pointCloudData output point cloud data
+     *
+     */
+    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);
+    /**
+     * @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.1.10 b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10
index 0afd92f2..e1fa96b8 120000
--- a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10
+++ b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10
@@ -1 +1 @@
-libOrbbecSDK.so.1.10.8
\ No newline at end of file
+libOrbbecSDK.so.1.10.9
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.8 b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.9
similarity index 68%
rename from orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.8
rename to orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.9
index f361e8c7..c06f5aa8 100644
Binary files a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.8 and b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.9 differ
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10
index 0afd92f2..e1fa96b8 120000
--- a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10
+++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10
@@ -1 +1 @@
-libOrbbecSDK.so.1.10.8
\ No newline at end of file
+libOrbbecSDK.so.1.10.9
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10.8 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10.9
similarity index 63%
rename from orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10.8
rename to orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10.9
index 808ff895..aead0244 100644
Binary files a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10.8 and b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10.9 differ
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10
index 0afd92f2..e1fa96b8 120000
--- a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10
+++ b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10
@@ -1 +1 @@
-libOrbbecSDK.so.1.10.8
\ No newline at end of file
+libOrbbecSDK.so.1.10.9
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10.8 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10.9
similarity index 65%
rename from orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10.8
rename to orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10.9
index 59f4d6ce..e5746629 100644
Binary files a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10.8 and b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10.9 differ