diff --git a/include/librealsense2/rs.h b/include/librealsense2/rs.h
index ff638041fa..c3f5c94961 100644
--- a/include/librealsense2/rs.h
+++ b/include/librealsense2/rs.h
@@ -23,7 +23,7 @@ extern "C" {
 #include "h/rs_sensor.h"
 
 #define RS2_API_MAJOR_VERSION    2
-#define RS2_API_MINOR_VERSION    22
+#define RS2_API_MINOR_VERSION    23
 #define RS2_API_PATCH_VERSION    0
 #define RS2_API_BUILD_VERSION    0
 
diff --git a/package.xml b/package.xml
index c50b287869..81519c9c90 100644
--- a/package.xml
+++ b/package.xml
@@ -7,7 +7,7 @@
 <package format="2">
   <name>librealsense2</name>
   <!-- The version tag needs to be updated with each new release of librealsense -->
-  <version>2.22.0</version>
+  <version>2.23.0</version>
   <description>
   Library for capturing data from the Intel(R) RealSense(TM) SR300, D400 Depth cameras and T2xx Tracking devices. This effort was initiated to better support researchers, creative coders, and app developers in domains such as robotics, virtual reality, and the internet of things. Several often-requested features of RealSense(TM); devices are implemented in this project.
   </description>
diff --git a/third-party/realsense-file/rosbag/cpp_common/include/ros/platform.h b/third-party/realsense-file/rosbag/cpp_common/include/ros/platform.h
index d3fab0a16b..28f19c028a 100644
--- a/third-party/realsense-file/rosbag/cpp_common/include/ros/platform.h
+++ b/third-party/realsense-file/rosbag/cpp_common/include/ros/platform.h
@@ -38,8 +38,8 @@
   #ifdef _MSC_VER
     #define WIN32_LEAN_AND_MEAN // slimmer compile times
     #define _WINSOCKAPI_ // stops windows.h from including winsock.h (and lets us include winsock2.h)
-    #ifndef NOMINMAX
-      #define NOMINMAX // windows c++ pollutes the environment like any factory
+    #ifndef NOMINMAX
+      #define NOMINMAX // windows c++ pollutes the environment like any factory
     #endif // NOMINMAX
   #endif
   #include <windows.h>
diff --git a/wrappers/csharp/Intel.RealSense/NativeMethods.cs b/wrappers/csharp/Intel.RealSense/NativeMethods.cs
index 619123b7ec..2a026afc38 100644
--- a/wrappers/csharp/Intel.RealSense/NativeMethods.cs
+++ b/wrappers/csharp/Intel.RealSense/NativeMethods.cs
@@ -628,7 +628,13 @@ internal static MemCpyDelegate GetMethod()
         internal static extern void rs2_set_census(IntPtr dev, IntPtr group, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
 
         [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
-        internal static extern void rs2_get_census(IntPtr dev, IntPtr group, int mode, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
+        internal static extern void rs2_get_census(IntPtr dev, IntPtr group, int mode, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
+
+        [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
+        internal static extern void rs2_set_amp_factor(IntPtr dev, IntPtr group, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
+
+        [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
+        internal static extern void rs2_get_amp_factor(IntPtr dev, IntPtr group, int mode, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
 
         [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
         internal static extern void rs2_load_json(IntPtr dev, [MarshalAs(UnmanagedType.LPStr)] string json_content, uint content_size, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
diff --git a/wrappers/python/python.cpp b/wrappers/python/python.cpp
index 24323afe58..c5cda42b7e 100644
--- a/wrappers/python/python.cpp
+++ b/wrappers/python/python.cpp
@@ -1273,6 +1273,8 @@ PYBIND11_MODULE(NAME, m) {
         .def("get_ae_control", &rs400::advanced_mode::get_ae_control, "mode"_a = 0) //STAEControl
         .def("set_census", &rs400::advanced_mode::set_census, "group"_a)    //STCensusRadius
         .def("get_census", &rs400::advanced_mode::get_census, "mode"_a = 0) //STCensusRadius
+        .def("set_amp_factor", &rs400::advanced_mode::set_amp_factor, "group"_a)    //STAFactor
+        .def("get_amp_factor", &rs400::advanced_mode::get_amp_factor, "mode"_a = 0) //STAFactor
         .def("serialize_json", &rs400::advanced_mode::serialize_json)
         .def("load_json", &rs400::advanced_mode::load_json, "json_content"_a);