diff --git a/orbbec_camera/SDK/include/libobsensor/h/Filter.h b/orbbec_camera/SDK/include/libobsensor/h/Filter.h
index 475745a1..a03f857e 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Filter.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Filter.h
@@ -245,6 +245,16 @@ OB_EXPORT uint32_t ob_filter_config_schema_list_get_count(const ob_filter_config
 OB_EXPORT ob_filter_config_schema_item ob_filter_config_schema_list_get_item(const ob_filter_config_schema_list *config_schema_list, uint32_t index,
                                                                              ob_error **error);
 
+/**
+ * @brief Set the align to stream profile for the align filter.
+ * @breif It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
+ *
+ * @param filter A filter object.
+ * @param align_to_stream_profile The align target stream profile.
+ * @param error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_align_filter_set_align_to_stream_profile(ob_filter *filter, const ob_stream_profile *align_to_stream_profile, ob_error **error);
+
 // The following interfaces are deprecated and are retained here for compatibility purposes.
 #define ob_get_filter ob_filter_list_get_filter
 #define ob_get_filter_name ob_filter_get_name
diff --git a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
index 90c8e60c..e1a2bcf1 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
@@ -1,9 +1,6 @@
 // Copyright (c) Orbbec Inc. All Rights Reserved.
 // Licensed under the MIT License.
 
-// License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2020 Orbbec  Corporation. All Rights Reserved.
-
 /**
  * @file ObTypes.h
  * @brief Provide structs commonly used in the SDK, enumerating constant definitions.
diff --git a/orbbec_camera/SDK/include/libobsensor/h/Property.h b/orbbec_camera/SDK/include/libobsensor/h/Property.h
index c418f2f3..f5250b33 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Property.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Property.h
@@ -97,7 +97,7 @@ typedef enum {
     /**
      * @brief Software filter switch
      */
-    OB_PROP_DEPTH_SOFT_FILTER_BOOL = 24,
+    OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL = 24,
 
     /**
      * @brief LDP status
@@ -105,14 +105,14 @@ typedef enum {
     OB_PROP_LDP_STATUS_BOOL = 32,
 
     /**
-     * @brief soft filter maxdiff param
+     * @brief maxdiff for depth noise removal filter
      */
-    OB_PROP_DEPTH_MAX_DIFF_INT = 40,
+    OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_DIFF_INT = 40,
 
     /**
-     * @brief soft filter maxSpeckleSize
+     * @brief maxSpeckleSize for depth noise removal filter
      */
-    OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT = 41,
+    OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_SPECKLE_SIZE_INT = 41,
 
     /**
      * @brief Hardware d2c is on
@@ -759,7 +759,9 @@ typedef enum {
 #define OB_PROP_LASER_ENERGY_LEVEL_INT OB_PROP_LASER_POWER_LEVEL_CONTROL_INT
 #define OB_PROP_LASER_HW_ENERGY_LEVEL_INT OB_PROP_LASER_POWER_ACTUAL_LEVEL_INT
 #define OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL OB_PROP_DEVICE_USB2_REPEAT_IDENTIFY_BOOL
-#define OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL OB_PROP_DEPTH_SOFT_FILTER_BOOL
+#define OB_PROP_DEPTH_SOFT_FILTER_BOOL OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL
+#define OB_PROP_DEPTH_MAX_DIFF_INT OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_DIFF_INT
+#define OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_SPECKLE_SIZE_INT
 
 /**
  * @brief The data type used to describe all property settings
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp
index 337c0375..d124c35e 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp
@@ -440,6 +440,18 @@ public:
     void setMatchTargetResolution(bool state) {
         setConfigValue("MatchTargetRes", state);
     }
+
+    /**
+     * @brief Set the Align To Stream Profile
+     * @brief  It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
+     *
+     * @param profile The Align To Stream Profile.
+     */
+    void setAlignToStreamProfile(std::shared_ptr<const StreamProfile> profile) {
+        ob_error *error = nullptr;
+        ob_align_filter_set_align_to_stream_profile(impl_, profile->getImpl(), &error);
+        Error::handle(&error);
+    }
 };
 
 /**
diff --git a/orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so b/orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so
index 5b78bd76..c7ee22bb 100644
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diff --git a/orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so b/orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so
index 50484df3..83d8b2c8 100644
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diff --git a/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so b/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so
index 5a6c10a0..a7dec724 100644
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diff --git a/orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so b/orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so
index 59c12056..79bdedde 100644
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diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so
index b66c4395..af8eaefd 100644
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diff --git a/orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so b/orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so
index 1d03cacf..4c904543 100644
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diff --git a/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so b/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so
index 1fb33bbd..d45350dd 100644
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diff --git a/orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so b/orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so
index d84ff34b..fb90e6b6 100644
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diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so
index 81090a1b..f2adde2b 100644
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