diff --git a/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml b/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
index 94b4cf12..94fdfb9d 100644
--- a/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
+++ b/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
@@ -1,97 +1,112 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <Config>
-    <!--Configuration file standard version. If you are not an SDK developer, please do not modify it, otherwise the configuration function may fail.-->
+    <!-- Configuration file standard version. If you are not an SDK developer, please do not modify
+    it, otherwise the configuration function may fail. -->
     <ConfigStandardVersion>1.1</ConfigStandardVersion>
 
     <Log>
-        <!--Log output level, int type, optional values: 0-DEBUG, 1-INFO, 2-WARN, 3-ERROR, 4-FATAL, 5-OFF-->
-        <!--Log level configuration execution priority: 0. Application code configuration > 1. Detailed configuration of configuration file (file & console configuration) > 2. Global configuration of configuration file > 3. SDK code default configuration (file: 0, terminal: 1)-->
-        <!--Global log output level-->
-        <LogLevel>0</LogLevel>
-        <!--File log output level-->
-        <FileLogLevel>0</FileLogLevel>
-        <!--Console log output level-->
-        <ConsoleLogLevel>1</ConsoleLogLevel>
-        <!--Default log output file path, string type. If this item is not configured, the default path will be used: Win/Linux: "./Log"; Android: "/sdcard/Orbbec/Log"-->
-        <!--<OutputDir>./log</OutputDir>-->
-        <!--Default log output file size, int type, unit: MB-->
+        <!-- Log output level, int type, optional values: 0-DEBUG, 1-INFO, 2-WARN, 3-ERROR, 4-FATAL,
+        5-OFF -->
+        <!-- File log output level -->
+        <FileLogLevel>5</FileLogLevel>
+        <!-- Console log output level -->
+        <ConsoleLogLevel>3</ConsoleLogLevel>
+        <!-- Default log output file path, string type. If this item is not configured, the default
+        path will be used: Win/Linux: "./Log"; Android: "/sdcard/orbbec/Log" -->
+        <!-- <OutputDir>./log</OutputDir> -->
+        <!-- Default log output file size, int type, unit: MB -->
         <MaxFileSize>100</MaxFileSize>
-        <!--Default log output file number (circular overwrite), int type-->
+        <!-- Default log output file number (circular overwrite), int type -->
         <MaxFileNum>3</MaxFileNum>
-        <!--Log asynchronous output, changing to asynchronous output can reduce the blocking time of printing logs, but some logs may be lost when the program exits abnormally; true-enable, false-disable (default)-->
+        <!-- Log asynchronous output, changing to asynchronous output can reduce the blocking time
+        of printing logs, but some logs may be lost when the program exits abnormally; true-enable,
+        false-disable (default) -->
         <Async>false</Async>
     </Log>
 
     <Memory>
-        <!--Enable memory pool to reuse frame memory, avoid frequent memory allocation and release. true-enable, false-disable)-->
-        <EnableMemoryPool> true </EnableMemoryPool>
-        <!--Maximum memory size of all data frames, int type, unit: MB, minimum 100MB-->
-        <MaxFrameBufferSize> 2048 </MaxFrameBufferSize>
-        <!--Frame buffer queue size in pipeline-->
+        <!-- Enable memory pool to reuse frame memory, avoid frequent memory allocation and release.
+        true-enable, false-disable) -->
+        <EnableMemoryPool>true</EnableMemoryPool>
+        <!-- Maximum memory size of all data frames, int type, unit: MB, minimum 100MB -->
+        <MaxFrameBufferSize>2048</MaxFrameBufferSize>
+        <!-- Frame buffer queue size in pipeline -->
         <PipelineFrameQueueSize>10</PipelineFrameQueueSize>
-        <!--Frame buffer queue size in internal processing unit-->
+        <!-- Frame buffer queue size in internal processing unit -->
         <FrameProcessingBlockQueueSize>10</FrameProcessingBlockQueueSize>
     </Memory>
 
     <Misc>
-        <GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
-        <!--Global timestamp fitter refresh interval, unit: milliseconds, default value: 8000, minimum value: 100, it is recommended not to be greater than 10000 -->
-        <GlobalTimestampFitterInterval>8000</GlobalTimestampFitterInterval>
-        <!--Global timestamp fitter queue size, default value: 10, minimum value: 4 -->
-        <GlobalTimestampFitterQueueSize>10</GlobalTimestampFitterQueueSize>
+        <GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
+        <!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
+        minimum value: 100, it is recommended not to be greater than 1000 -->
+        <GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
+        <!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
+        <GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
     </Misc>
 
-    <!--Default working configuration of pipeline-->
+    <!-- Default working configuration of pipeline -->
     <Pipeline>
         <Stream>
             <Depth>
-                <!--Use default stream profile, bool type, true： use default stream profile, false：use specified stream profile in the configuration file-->
+                <!-- Use default stream profile, bool type, true： use default stream profile,
+                false：use specified stream profile in the configuration file -->
                 <UseDefaultStreamProfile>true</UseDefaultStreamProfile>
             </Depth>
             <Color>
                 <UseDefaultStreamProfile>true</UseDefaultStreamProfile>
                 <![CDATA[
-                    <!--Do not use the default stream profile. Instead, open the stream according to the specified profile. If the specified profile is not supported, the default profile will be used.-->
+                    <!--  Set UseDefaultStreamProfile to false to use the specified stream profile in the configuration file -->
                     <UseDefaultStreamProfile>false</UseDefaultStreamProfile>
-                    <!--Width of the resolution, int type-->
+                    <!-- Width of the resolution, int type -->
                     <Width>1920</Width>
-                    <!--Height of the resolution, int type-->
+                    <!-- Height of the resolution, int type -->
                     <Height>1080</Height>
-                    <!--Frame rate, int type-->
+                    <!-- Frame rate, int type -->
                     <FPS>30</FPS>
-                    <!--frame format-->
+                    <!-- frame format -->
                     <Format>MJPG</Format>
                 ]]>
             </Color>
-            <!--If you need to open other streams, you can refer to the above format to add configuration-->
+            <!-- If you need to open other streams, you can refer to the above configuration to add -->
         </Stream>
-        <!--Image alignment, int type, optional values: 0 disable, 1 hardware d2c alignment, 2 software d2c alignment-->
+        <!-- Image alignment, int type, optional values: 0 disable, 1 hardware d2c alignment, 2
+        software d2c alignment -->
         <AlignMode>0</AlignMode>
-        <!--Frame synchronization output between different data streams, bool type, true-enable frame synchronization, false-disable frame synchronization-->
+        <!-- Frame synchronization output between different data streams, bool type, true-enable
+        frame synchronization, false-disable frame synchronization -->
         <FrameSync>false</FrameSync>
     </Pipeline>
 
-    <!--Default configuration of data streams for different types of devices-->
+    <!-- Default configuration of data streams for different types of devices -->
     <Device>
+        <!-- Whether to enumerate network devices, bool type, true-enable, false-disable (default) -->
         <EnumerateNetDevice>false</EnumerateNetDevice>
-		
-        <!--UVC Backend select on Linux; optional values: Auto, V4L2, LibUVC; Auto is the default value-->
+
+        <!-- UVC Backend select on Linux; optional values: Auto, V4L2, LibUVC; Auto is the default
+        value -->
         <LinuxUVCBackend>LibUVC</LinuxUVCBackend>
-        
-        <!--The device corresponding to Astra adv is astra+-->
+
+        <!-- Frame metadata parsing path; optinal values: PayloadHeader, ExtensionHeader-->
+        <FrameMetadataParsingPath>ExtensionHeader</FrameMetadataParsingPath>
+
+        <!-- The device corresponding to Astra adv is astra+ -->
         <AstraAdv>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-                <!--Profile filter, you can configure unwanted resolution, format, frame rate related profile, use '|' to add multiple options, the filter is not turned on by default-->
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Profile filter, you can configure unwanted resolution, format, frame rate
+                related profile, use '|' to add multiple options, the filter is not turned on by
+                default -->
                 <![CDATA[
                 <ProfileFilter>
 					<profile>
@@ -108,2603 +123,2857 @@
                 ]]>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </AstraAdv>
 
         <Femto>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </Femto>
 
-		<FemtoW>
+        <FemtoW>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </FemtoW>
 
-         <FemtoLive>
+        <FemtoLive>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </FemtoLive>
 
         <FemtoMega>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>576</Height>
-                <!--Default frame rate, int type-->
-                <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame rate, int type -->
+                <FPS>30</FPS>
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-                <!--The maximum open-flow delay, unit: ms; if the first frame of data is not received after the open-flow exceeds this time, the open-flow will be considered as a failure-->
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- The maximum open-flow delay, unit: ms; if the first frame of data is not
+                received after the open-flow exceeds this time, the open-flow will be considered as
+                a failure -->
                 <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-                <!--Stream interruption restart, 0 does not restart, >=1 consecutive restart attempts-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-                <!--The maximum frame interval time, unit: ms; if no new data frame is received beyond the maximum interval time, the stream is considered to be interrupted-->
+                <!-- Stream interruption restart, 0 does not restart, >=1 consecutive restart
+                attempts -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, unit: ms; if no new data frame is received
+                beyond the maximum interval time, the stream is considered to be interrupted -->
                 <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
             </Depth>
 
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>1920</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>1080</Height>
-                <!--Default frame rate, int type-->
-                <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame rate, int type -->
+                <FPS>30</FPS>
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-                <!--The maximum open-flow delay, unit: ms; if the first frame of data is not received after the open-flow exceeds this time, the open-flow will be considered as a failure-->
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- The maximum open-flow delay, unit: ms; if the first frame of data is not
+                received after the open-flow exceeds this time, the open-flow will be considered as
+                a failure -->
                 <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-                <!--Stream interruption restart, 0 does not restart, >=1 consecutive restart attempts-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-                <!--The maximum frame interval time, unit: ms; if no new data frame is received beyond the maximum interval time, the stream is considered to be interrupted-->
+                <!-- Stream interruption restart, 0 does not restart, >=1 consecutive restart
+                attempts -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, unit: ms; if no new data frame is received
+                beyond the maximum interval time, the stream is considered to be interrupted -->
                 <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
             </Color>
 
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>576</Height>
-                <!--Default frame rate, int type-->
-                <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame rate, int type -->
+                <FPS>30</FPS>
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-                <!--The maximum open-flow delay, unit: ms; if the first frame of data is not received after the open-flow exceeds this time, the open-flow will be considered as a failure-->
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- The maximum open-flow delay, unit: ms; if the first frame of data is not
+                received after the open-flow exceeds this time, the open-flow will be considered as
+                a failure -->
                 <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-                <!--Stream interruption restart, 0 does not restart, >=1 consecutive restart attempts-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-                <!--The maximum frame interval time, unit: ms; if no new data frame is received beyond the maximum interval time, the stream is considered to be interrupted-->
+                <!-- Stream interruption restart, 0 does not restart, >=1 consecutive restart
+                attempts -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, unit: ms; if no new data frame is received
+                beyond the maximum interval time, the stream is considered to be interrupted -->
                 <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
             </IR>
         </FemtoMega>
         <FemtoBolt>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>576</Height>
-                <!--Default frame rate, int type-->
-                <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame rate, int type -->
+                <FPS>30</FPS>
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-                <!--The maximum open-flow delay, unit: ms; if the first frame of data is not received after the open-flow exceeds this time, the open-flow will be considered as a failure-->
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- The maximum open-flow delay, unit: ms; if the first frame of data is not
+                received after the open-flow exceeds this time, the open-flow will be considered as
+                a failure -->
                 <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-                <!--Stream interruption restart, 0 does not restart, >=1 consecutive restart attempts-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-                <!--The maximum frame interval time, unit: ms; if no new data frame is received beyond the maximum interval time, the stream is considered to be interrupted-->
+                <!-- Stream interruption restart, 0 does not restart, >=1 consecutive restart
+                attempts -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, unit: ms; if no new data frame is received
+                beyond the maximum interval time, the stream is considered to be interrupted -->
                 <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
             </Depth>
 
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>1920</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>1080</Height>
-                <!--Default frame rate, int type-->
-                <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame rate, int type -->
+                <FPS>30</FPS>
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-                <!--The maximum open-flow delay, unit: ms; if the first frame of data is not received after the open-flow exceeds this time, the open-flow will be considered as a failure-->
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- The maximum open-flow delay, unit: ms; if the first frame of data is not
+                received after the open-flow exceeds this time, the open-flow will be considered as
+                a failure -->
                 <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-                <!--Stream interruption restart, 0 does not restart, >=1 consecutive restart attempts-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-                <!--The maximum frame interval time, unit: ms; if no new data frame is received beyond the maximum interval time, the stream is considered to be interrupted-->
+                <!-- Stream interruption restart, 0 does not restart, >=1 consecutive restart
+                attempts -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, unit: ms; if no new data frame is received
+                beyond the maximum interval time, the stream is considered to be interrupted -->
                 <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
             </Color>
 
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>576</Height>
-                <!--Default frame rate, int type-->
-                <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame rate, int type -->
+                <FPS>30</FPS>
+                <!-- Default frame format -->
                 <Format>Y16</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-                <!--The maximum open-flow delay, unit: ms; if the first frame of data is not received after the open-flow exceeds this time, the open-flow will be considered as a failure-->
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- The maximum open-flow delay, unit: ms; if the first frame of data is not
+                received after the open-flow exceeds this time, the open-flow will be considered as
+                a failure -->
                 <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-                <!--Stream interruption restart, 0 does not restart, >=1 consecutive restart attempts-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-                <!--The maximum frame interval time, unit: ms; if no new data frame is received beyond the maximum interval time, the stream is considered to be interrupted-->
+                <!-- Stream interruption restart, 0 does not restart, >=1 consecutive restart
+                attempts -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, unit: ms; if no new data frame is received
+                beyond the maximum interval time, the stream is considered to be interrupted -->
                 <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
             </IR>
         </FemtoBolt>
 
-         <DaBai>
+        <DaBai>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </DaBai>
 
         <DaBaiPro>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </DaBaiPro>
 
         <DaBaiDCW>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>360</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>360</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </DaBaiDCW>
 
-		<DaBaiDCW2>
-            <!-- Depth Filter Params -->
+        <DaBaiDCW2>
+            <!--  Depth Filter Params -->
             <!--
             <DepthFilterDDOConfig>./Openni_device.json</DepthFilterDDOConfig>
-			-->
+			 -->
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </DaBaiDCW2>
-		<GeminiEW>
+        <GeminiEW>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<ProfileFilter>
-				<profile>
-				<FPS>30</FPS>
-				</profile>
-				</ProfileFilter>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <ProfileFilter>
+                    <profile>
+                        <FPS>30</FPS>
+                    </profile>
+                </ProfileFilter>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<ProfileFilter>
-				<profile>
-				<FPS>30</FPS>
-				</profile>
-				</ProfileFilter>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <ProfileFilter>
+                    <profile>
+                        <FPS>30</FPS>
+                    </profile>
+                </ProfileFilter>
             </IR>
         </GeminiEW>
-		<DaBaiMax>
+        <DaBaiMax>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>320</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>10</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y12</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>25</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>10</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </DaBaiMax>
-		<DaBaiMaxPro>
+        <DaBaiMaxPro>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>10</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y12</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>25</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>10</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </DaBaiMaxPro>
-		<GeminiUW>
+        <GeminiUW>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>10</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y12</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>25</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>10</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </GeminiUW>
-		<DaBaiDW>
+        <DaBaiDW>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </DaBaiDW>
 
-		<DaBaiDW2>
+        <DaBaiDW2>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </DaBaiDW2>
-		<GeminiEWLite>
+        <GeminiEWLite>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>15</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </GeminiEWLite>
         <DaBaiDC1>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </DaBaiDC1>
 
         <DaBaiD1>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </DaBaiD1>
 
         <AstraMini>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>UYVY</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </AstraMini>
 
-		<AstraMiniS>
+        <AstraMiniS>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>UYVY</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </AstraMiniS>
 
-		<AstraMiniPro>
+        <AstraMiniPro>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>UYVY</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </AstraMiniPro>
 
-		<AstraMiniSPro>
+        <AstraMiniSPro>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>UYVY</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </AstraMiniSPro>
 
         <AstraStereoSU3>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </AstraStereoSU3>
 
         <SV1301S_U3>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </SV1301S_U3>
         <SL1000S_U3>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </SL1000S_U3>
 
         <Astra>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>UYVY</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </Astra>
 
         <AstraProPlus>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </AstraProPlus>
 
-		<AstraEmbeddedS>
+        <AstraEmbeddedS>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </AstraEmbeddedS>
 
         <Deeyea>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>400</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </Deeyea>
         <SL1502P_U2>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>480</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>640</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>480</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>640</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </SL1502P_U2>
         <GeminiE>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>360</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <Color>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>360</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>MJPG</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Color>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </GeminiE>
         <GeminiELite>
             <Depth>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y11</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </Depth>
             <IR>
-                <!--The width of the default resolution, int type-->
+                <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
-                <!--The height of the default resolution, int type-->
+                <!-- The height of the default resolution, int type -->
                 <Height>480</Height>
-                <!--Default frame rate, int type-->
+                <!-- Default frame rate, int type -->
                 <FPS>30</FPS>
-                <!--Default frame format-->
+                <!-- Default frame format -->
                 <Format>Y10</Format>
-                <!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
-				<StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Whether to retry after open stream failure, 0 means no retry, >=1 retry and how
+                many times to retry -->
+                <StreamFailedRetry>0</StreamFailedRetry>
             </IR>
         </GeminiELite>
-        <!--Gemini2 config-->
-        <OrbbecGemini2>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaultHeartBeat>0</DefaultHeartBeat>
-			<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
-			<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
-            
-            <!-- Depth Filter Params -->
+        <!-- Gemini2 config -->
+        <Gemini2>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+            <!--  Depth Filter Params -->
             <!--
             <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-			-->
+			 -->
 
-            <!--TODO lumiaozi It is cumbersome to consider the recommended configuration in different camera depth modes-->
-            <!--TODO lumiaozi have to consider the uncorresponding resolutions in different camera depth modes-->
-			<Depth>
-			    <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--Open flow waits for the timeout period of the first frame of data, after which the open flow will fail-->
-				<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
-                <!--The resolution width is enabled by default, int type-->
+            <!-- TODO lumiaozi It is cumbersome to consider the recommended configuration in
+            different camera depth modes -->
+            <!-- TODO lumiaozi have to consider the uncorresponding resolutions in different camera
+            depth modes -->
+            <Depth>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>RLE</Format>
             </Depth>
             <Color>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>720</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>MJPG</Format>
             </Color>
             <IR>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
             </IR>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
-            </IR_RIGHT>
-            <!--Configurations in different camera depth modes -->
-            <!--Deep working mode: Unbinned Dense Default -->
+            </RightIR>
+            <!-- Configurations in different camera depth modes -->
+            <!-- Deep working mode: Unbinned Dense Default -->
             <UnbinnedDenseDefault>
-                <!--You can configure the default resolution corresponding to the sensor in the current mode here, if not configured, then use the Device node to correspond to the default resolution of the sensor -->
+                <!-- You can configure the default resolution corresponding to the sensor in the
+                current mode here, if not configured, then use the Device node to correspond to the
+                default resolution of the sensor -->
             </UnbinnedDenseDefault>
-            <!--Deep working mode: Unbinned Sparse Default -->
+            <!-- Deep working mode: Unbinned Sparse Default -->
             <UnbinnedSparseDefault>
-                <!--You can configure the default resolution corresponding to the sensor in the current mode here, if not configured, then use the Device node to correspond to the default resolution of the sensor -->
+                <!-- You can configure the default resolution corresponding to the sensor in the
+                current mode here, if not configured, then use the Device node to correspond to the
+                default resolution of the sensor -->
             </UnbinnedSparseDefault>
-            <!--Deep working mode: Binned Sparse Default -->
+            <!-- Deep working mode: Binned Sparse Default -->
             <BinnedSparseDefault>
-                <!--You can configure the default resolution corresponding to the sensor in the current mode here, if not configured, then use the Device node to correspond to the default resolution of the sensor -->
+                <!-- You can configure the default resolution corresponding to the sensor in the
+                current mode here, if not configured, then use the Device node to correspond to the
+                default resolution of the sensor -->
                 <Depth>
-                    <!--The resolution width is enabled by default, int type-->
+                    <!-- The resolution width is enabled by default, int type -->
                     <Width>640</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>400</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>RLE</Format>
-				</Depth>
-				<IR>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>640</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>400</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-				</IR>
-			</BinnedSparseDefault>
-            <!-- Deep working mode: Obstacle Avoidance -->
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>400</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>RLE</Format>
+                </Depth>
+                <IR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>640</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>400</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                </IR>
+            </BinnedSparseDefault>
+            <!--  Deep working mode: Obstacle Avoidance -->
             <ObstacleAvoidance>
                 <Depth>
-                    <!--The resolution width is enabled by default, int type-->
+                    <!-- The resolution width is enabled by default, int type -->
                     <Width>640</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>400</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>15</FPS>
-					<Format>RLE</Format>
-				</Depth>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>400</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>15</FPS>
+                    <Format>RLE</Format>
+                </Depth>
             </ObstacleAvoidance>
-			<FactoryCalibration>
-			    <Color>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1920</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>1080</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-				</Color>
-				<IR_LEFT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y10</Format>
-				</IR_LEFT>
-				<IR_RIGHT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y10</Format>
-				</IR_RIGHT>
-
-			</FactoryCalibration>
-			<In-sceneCalibration>
-			    <Color>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1920</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>1080</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-				</Color>
-				<IR_LEFT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-				</IR_LEFT>
-				<IR_RIGHT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-				</IR_RIGHT>
-			</In-sceneCalibration>
-        </OrbbecGemini2>
-        
-        <!--DaBaiDCL config-->
-        <DaBaiDCL>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaultHeartBeat>0</DefaultHeartBeat>
-			<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
-			<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
-
-            <!--TODO lumiaozi It is cumbersome to consider the recommended configuration in different camera depth modes-->
-            <!--TODO lumiaozi have to consider the uncorresponding resolutions in different camera depth modes-->
-			<Depth>
-			    <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--Open flow waits for the timeout period of the first frame of data, after which the open flow will fail-->
-				<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>RLE</Format>
-            </Depth>
-            <Color>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>720</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>MJPG</Format>
-            </Color>
-            <IR>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>Y8</Format>
-            </IR>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>Y8</Format>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>Y8</Format>
-            </IR_RIGHT>
-
-			<!--Configurations in different camera depth modes-->
-			<HighAccuracyMode>
-			    <Depth>
-                    <!--The resolution width is enabled by default, int type-->
-                    <Width>640</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>400</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y16</Format>
-				</Depth>
-				<IR>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>640</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>400</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-				</IR>
-			</HighAccuracyMode>
-			<FactoryCalibration>
-			    <Color>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1920</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>1080</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-				</Color>
-				<IR_LEFT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y10</Format>
-				</IR_LEFT>
-				<IR_RIGHT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y10</Format>
-				</IR_RIGHT>
-
-			</FactoryCalibration>
-			<In-sceneCalibration>
-			    <Color>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1920</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>1080</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-				</Color>
-				<IR_LEFT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-				</IR_LEFT>
-				<IR_RIGHT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-				</IR_RIGHT>
-			</In-sceneCalibration>
-        </DaBaiDCL>
-        <!--OrbbecGemini2L config-->
-        <OrbbecGemini2L>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaulHeartBeat>0</DefaulHeartBeat>
-
-			<Depth>
-			    <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--Open flow waits for the timeout period of the first frame of data, after which the open flow will fail-->
-				<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>RLE</Format>
-            </Depth>
-            <Color>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>720</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <Format>MJPG</Format>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-            </Color>
-            <IR>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <Format>Y8</Format>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-            </IR>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>Y8</Format>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>Y8</Format>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-            </IR_RIGHT>
-
-			<!--Configurations in different camera depth modes-->
-			<BinnedSparseDefault>
-			    <Depth>
-                    <!--The resolution width is enabled by default, int type-->
-                    <Width>640</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>400</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>RLE</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</Depth>
-				<IR>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>640</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>400</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</IR>
-			</BinnedSparseDefault>
-			<FactoryCalibration>
-			    <Color>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1920</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>1080</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</Color>
-				<IR_LEFT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y10</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</IR_LEFT>
-				<IR_RIGHT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y10</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</IR_RIGHT>
-
-			</FactoryCalibration>
-			<In-sceneCalibration>
-			    <Color>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1920</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>1080</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</Color>
-				<IR_LEFT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</IR_LEFT>
-				<IR_RIGHT>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</IR_RIGHT>
-			</In-sceneCalibration>
-        </OrbbecGemini2L>
-        <!--Astra2 config-->
-        <OrbbecAstra2>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaulHeartBeat>0</DefaulHeartBeat>
-
-            <!--TODO lumiaozi It is cumbersome to consider the recommended configuration in different camera depth modes-->
-            <!--TODO lumiaozi have to consider the uncorresponding resolutions in different camera depth modes-->
-			<Depth>
-			    <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>2</StreamFailedRetry>
-				<!--Open flow waits for the timeout period of the first frame of data, after which the open flow will fail-->
-				<MaxStartStreamDelayMs>10000</MaxStartStreamDelayMs>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>2</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>800</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>600</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>RLE</Format>
-            </Depth>
-            <Color>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>720</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>MJPG</Format>
-            </Color>
-            <IR>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>800</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>600</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>Y8</Format>
-            </IR>
-			<!--Configurations in different camera depth modes-->
-			<HighResolution>
-			    <Depth>
-                    <!--The resolution width is enabled by default, int type-->
-                    <Width>1600</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>1200</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>RLE</Format>
-				</Depth>
+            <FactoryCalibration>
                 <Color>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>720</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-				</Color>
-				<IR>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>800</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>600</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-				</IR>
-			</HighResolution>
-			<ClassicResolution>
-                <Depth>
-                    <!--The resolution width is enabled by default, int type-->
-                    <Width>640</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>480</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>RLE</Format>
-				</Depth>
-                <Color>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>720</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-				</Color>
-				<IR>
-					<!--The resolution width is enabled by default, int type-->
-					<Width>640</Width>
-					<!--High resolution is enabled by default, int type-->
-					<Height>480</Height>
-					<!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-				</IR>
-			</ClassicResolution>
-        </OrbbecAstra2>
-        <!-- Gemini2VL config -->
-        <OrbbecGemini2VL>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaulHeartBeat>0</DefaulHeartBeat>
-
-            <Color>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>MJPG</Format>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-            </Color>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>Y8</Format>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
-                <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
-                <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
-                <FPS>30</FPS>
-                <Format>Y8</Format>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-            </IR_RIGHT>
-
-			<!--Configurations in different camera depth modes-->
-			<BinnedSparseStereoImaging>
-			    <Color>
-                    <!--The resolution width is enabled by default, int type-->
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1920</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>1080</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
                     <Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</Color>
-                <IR_LEFT>
-                    <!--The resolution width is enabled by default, int type-->
-                    <Width>640</Width>
-                    <!--High resolution is enabled by default, int type-->
-                    <Height>400</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y10</Format>
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y10</Format>
+                </RightIR>
+
+            </FactoryCalibration>
+            <In-sceneCalibration>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1920</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>1080</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
                     <FPS>30</FPS>
                     <Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-                    <StreamFailedRetry>0</StreamFailedRetry>
-                </IR_LEFT>
-                <IR_RIGHT>
-                    <!--The resolution width is enabled by default, int type-->
-                    <Width>640</Width>
-                    <!--High resolution is enabled by default, int type-->
-                    <Height>400</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
                     <FPS>30</FPS>
                     <Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-                    <StreamFailedRetry>0</StreamFailedRetry>
-                </IR_RIGHT>
-			</BinnedSparseStereoImaging>
-			<FactoryCalibration>
-			    <Color>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1920</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>1080</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</Color>
-				<IR_LEFT>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y10</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</IR_LEFT>
-				<IR_RIGHT>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y10</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</IR_RIGHT>
+                </RightIR>
+            </In-sceneCalibration>
+        </Gemini2>
 
-			</FactoryCalibration>
-			<In-sceneCalibration>
-			    <Color>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1920</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>1080</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>MJPG</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</Color>
-				<IR_LEFT>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</IR_LEFT>
-				<IR_RIGHT>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>30</FPS>
-					<Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				</IR_RIGHT>
-			</In-sceneCalibration>
-        </OrbbecGemini2VL>
-        <!-- Gemini2XL config -->
-        <OrbbecGemini2XL>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaulHeartBeat>0</DefaulHeartBeat>
+        <!-- DaBaiDCL config -->
+        <DaBaiDCL>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
 
-			<Depth>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--Open flow waits for the timeout period of the first frame of data, after which the open flow will fail-->
-				<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>5</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-                <!--The resolution width is enabled by default, int type-->
+            <!-- TODO lumiaozi It is cumbersome to consider the recommended configuration in
+            different camera depth modes -->
+            <!-- TODO lumiaozi have to consider the uncorresponding resolutions in different camera
+            depth modes -->
+            <Depth>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>RLE</Format>
+            </Depth>
+            <Color>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>720</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>MJPG</Format>
+            </Color>
+            <IR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </IR>
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </RightIR>
+
+            <!-- Configurations in different camera depth modes -->
+            <HighAccuracyMode>
+                <Depth>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>640</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>400</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y16</Format>
+                </Depth>
+                <IR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>640</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>400</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                </IR>
+            </HighAccuracyMode>
+            <FactoryCalibration>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1920</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>1080</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y10</Format>
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y10</Format>
+                </RightIR>
+
+            </FactoryCalibration>
+            <In-sceneCalibration>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1920</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>1080</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                </RightIR>
+            </In-sceneCalibration>
+        </DaBaiDCL>
+        <!-- Gemini2L config -->
+        <Gemini2L>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaulHeartBeat>0</DefaulHeartBeat>
+
+            <Depth>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>RLE</Format>
+            </Depth>
+            <Color>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>720</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <Format>MJPG</Format>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+            </Color>
+            <IR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <Format>Y8</Format>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+            </IR>
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+            </RightIR>
+
+            <!-- Configurations in different camera depth modes -->
+            <BinnedSparseDefault>
+                <Depth>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>640</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>400</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>RLE</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </Depth>
+                <IR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>640</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>400</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </IR>
+            </BinnedSparseDefault>
+            <FactoryCalibration>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1920</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>1080</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y10</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y10</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </RightIR>
+
+            </FactoryCalibration>
+            <In-sceneCalibration>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1920</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>1080</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </RightIR>
+            </In-sceneCalibration>
+        </Gemini2L>
+        <!-- Astra2 config -->
+        <Astra2>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaulHeartBeat>0</DefaulHeartBeat>
+
+            <!-- TODO lumiaozi It is cumbersome to consider the recommended configuration in
+            different camera depth modes -->
+            <!-- TODO lumiaozi have to consider the uncorresponding resolutions in different camera
+            depth modes -->
+            <Depth>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>2</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>10000</MaxStartStreamDelayMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>2</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>800</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>600</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>RLE</Format>
+            </Depth>
+            <Color>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>720</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>MJPG</Format>
+            </Color>
+            <IR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>800</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>600</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </IR>
+            <!-- Configurations in different camera depth modes -->
+            <HighResolution>
+                <Depth>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1600</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>1200</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>RLE</Format>
+                </Depth>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>720</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                </Color>
+                <IR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>800</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>600</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                </IR>
+            </HighResolution>
+            <ClassicResolution>
+                <Depth>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>640</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>480</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>RLE</Format>
+                </Depth>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>720</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                </Color>
+                <IR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>640</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>480</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                </IR>
+            </ClassicResolution>
+        </Astra2>
+        <!--  Gemini2VL config -->
+        <Gemini2VL>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaulHeartBeat>0</DefaulHeartBeat>
+
+            <Color>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>MJPG</Format>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+            </Color>
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+            </RightIR>
+
+            <!-- Configurations in different camera depth modes -->
+            <BinnedSparseStereoImaging>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>640</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>400</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>640</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>400</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </RightIR>
+            </BinnedSparseStereoImaging>
+            <FactoryCalibration>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1920</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>1080</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y10</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y10</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </RightIR>
+
+            </FactoryCalibration>
+            <In-sceneCalibration>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1920</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>1080</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>MJPG</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>30</FPS>
+                    <Format>Y8</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                </RightIR>
+            </In-sceneCalibration>
+        </Gemini2VL>
+        <!--  Gemini2XL config -->
+        <Gemini2XL>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaulHeartBeat>0</DefaulHeartBeat>
+
+            <Depth>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>5</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>10</FPS>
                 <Format>RVL</Format>
             </Depth>
             <Color>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>10</FPS>
                 <Format>MJPG</Format>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>5</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>5</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
             </Color>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>10</FPS>
                 <Format>Y8</Format>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>5</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>5</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>10</FPS>
                 <Format>Y8</Format>
-                <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>5</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-            </IR_RIGHT>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>5</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
+            </RightIR>
             <Accel>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>5</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>5</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
             </Accel>
             <Gyro>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>5</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>5</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
             </Gyro>
 
-			<!--Configurations in different camera depth modes-->
-			<BinnedSparseDefault>
+            <!-- Configurations in different camera depth modes -->
+            <BinnedSparseDefault>
                 <Color>
-                    <!--The resolution width is enabled by default, int type-->
+                    <!-- The resolution width is enabled by default, int type -->
                     <Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>20</FPS>
-					<Format>MJPG</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				    <!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>20</FPS>
+                    <Format>MJPG</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                    <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                    restart -->
                     <StreamInterruptedRestart>5</StreamInterruptedRestart>
-				    <!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
+                    <!-- The maximum frame interval time, if this value is exceeded, it will be
+                    judged that the stream is interrupted -->
                     <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-				</Color>
-			    <Depth>
-                    <!--The resolution width is enabled by default, int type-->
+                </Color>
+                <Depth>
+                    <!-- The resolution width is enabled by default, int type -->
                     <Width>640</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>400</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>20</FPS>
-					<Format>RVL</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				    <!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-                    <StreamInterruptedRestart>5</StreamInterruptedRestart>
-				    <!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-                    <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-				</Depth>
-                <IR_LEFT>
-                    <!--The resolution width is enabled by default, int type-->
-                    <Width>640</Width>
-                    <!--High resolution is enabled by default, int type-->
+                    <!-- High resolution is enabled by default, int type -->
                     <Height>400</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>20</FPS>
+                    <Format>RVL</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                    <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                    restart -->
+                    <StreamInterruptedRestart>5</StreamInterruptedRestart>
+                    <!-- The maximum frame interval time, if this value is exceeded, it will be
+                    judged that the stream is interrupted -->
+                    <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
+                </Depth>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>640</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>400</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
                     <FPS>20</FPS>
                     <Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
                     <StreamFailedRetry>0</StreamFailedRetry>
-				    <!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
+                    <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                    restart -->
                     <StreamInterruptedRestart>5</StreamInterruptedRestart>
-				    <!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
+                    <!-- The maximum frame interval time, if this value is exceeded, it will be
+                    judged that the stream is interrupted -->
                     <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-                </IR_LEFT>
-                <IR_RIGHT>
-                    <!--The resolution width is enabled by default, int type-->
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
                     <Width>640</Width>
-                    <!--High resolution is enabled by default, int type-->
+                    <!-- High resolution is enabled by default, int type -->
                     <Height>400</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
+                    <!-- The frame rate of the resolution enabled by default, int type -->
                     <FPS>20</FPS>
                     <Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
                     <StreamFailedRetry>0</StreamFailedRetry>
-				    <!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
+                    <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                    restart -->
                     <StreamInterruptedRestart>5</StreamInterruptedRestart>
-				    <!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
+                    <!-- The maximum frame interval time, if this value is exceeded, it will be
+                    judged that the stream is interrupted -->
                     <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-                </IR_RIGHT>
-			</BinnedSparseDefault>
-			<FactoryCalibration>
-			    <Color>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>10</FPS>
-					<Format>MJPG</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				    <!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
+                </RightIR>
+            </BinnedSparseDefault>
+            <FactoryCalibration>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>10</FPS>
+                    <Format>MJPG</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                    <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                    restart -->
                     <StreamInterruptedRestart>5</StreamInterruptedRestart>
-				    <!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
+                    <!-- The maximum frame interval time, if this value is exceeded, it will be
+                    judged that the stream is interrupted -->
                     <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-				</Color>
-				<IR_LEFT>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>10</FPS>
-					<Format>Y10</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				    <!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>10</FPS>
+                    <Format>Y10</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                    <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                    restart -->
                     <StreamInterruptedRestart>5</StreamInterruptedRestart>
-				    <!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
+                    <!-- The maximum frame interval time, if this value is exceeded, it will be
+                    judged that the stream is interrupted -->
                     <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-				</IR_LEFT>
-				<IR_RIGHT>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>10</FPS>
-					<Format>Y10</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				    <!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>10</FPS>
+                    <Format>Y10</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                    <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                    restart -->
                     <StreamInterruptedRestart>5</StreamInterruptedRestart>
-				    <!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
+                    <!-- The maximum frame interval time, if this value is exceeded, it will be
+                    judged that the stream is interrupted -->
                     <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-				</IR_RIGHT>
-			</FactoryCalibration>
-			<In-sceneCalibration>
-			    <Color>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>10</FPS>
-					<Format>MJPG</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				    <!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
+                </RightIR>
+            </FactoryCalibration>
+            <In-sceneCalibration>
+                <Color>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>10</FPS>
+                    <Format>MJPG</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                    <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                    restart -->
                     <StreamInterruptedRestart>5</StreamInterruptedRestart>
-				    <!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
+                    <!-- The maximum frame interval time, if this value is exceeded, it will be
+                    judged that the stream is interrupted -->
                     <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-				</Color>
-				<IR_LEFT>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>10</FPS>
-					<Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				    <!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
+                </Color>
+                <LeftIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>10</FPS>
+                    <Format>Y8</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                    <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                    restart -->
                     <StreamInterruptedRestart>5</StreamInterruptedRestart>
-				    <!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
+                    <!-- The maximum frame interval time, if this value is exceeded, it will be
+                    judged that the stream is interrupted -->
                     <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-				</IR_LEFT>
-				<IR_RIGHT>
-                    <!--The resolution width is enabled by default, int type-->
-					<Width>1280</Width>
-                    <!--High resolution is enabled by default, int type-->
-					<Height>800</Height>
-                    <!--The frame rate of the resolution enabled by default, int type-->
-					<FPS>10</FPS>
-					<Format>Y8</Format>
-                    <!--Number of retries for open stream failures, 0 means no retries-->
-				    <StreamFailedRetry>0</StreamFailedRetry>
-				    <!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
+                </LeftIR>
+                <RightIR>
+                    <!-- The resolution width is enabled by default, int type -->
+                    <Width>1280</Width>
+                    <!-- High resolution is enabled by default, int type -->
+                    <Height>800</Height>
+                    <!-- The frame rate of the resolution enabled by default, int type -->
+                    <FPS>10</FPS>
+                    <Format>Y8</Format>
+                    <!-- Number of retries for open stream failures, 0 means no retries -->
+                    <StreamFailedRetry>0</StreamFailedRetry>
+                    <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                    restart -->
                     <StreamInterruptedRestart>5</StreamInterruptedRestart>
-				    <!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
+                    <!-- The maximum frame interval time, if this value is exceeded, it will be
+                    judged that the stream is interrupted -->
                     <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
-				</IR_RIGHT>
-			</In-sceneCalibration>
-        </OrbbecGemini2XL>
+                </RightIR>
+            </In-sceneCalibration>
+        </Gemini2XL>
 
-         <!--Gemini2R config-->
-        <OrbbecGemini335>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaultHeartBeat>0</DefaultHeartBeat>
-			<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
-			<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+        <!-- Gemini2R config -->
+        <Gemini335>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
 
-            <!-- Depth Filter Params -->
+            <!--  Depth Filter Params -->
             <!--
             <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-			-->
-			<Depth>
-			    <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--Open flow waits for the timeout period of the first frame of data, after which the open flow will fail-->
-				<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
-                <!--The resolution width is enabled by default, int type-->
+			 -->
+            <Depth>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y16</Format>
             </Depth>
             <Color>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>720</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>MJPG</Format>
             </Color>
             <IR>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
             </IR>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
-            </IR_RIGHT>
-        </OrbbecGemini335>
-		
-		   <!--Gemini2RL config-->
-        <OrbbecGemini335L>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaultHeartBeat>0</DefaultHeartBeat>
-			<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
-			<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+            </RightIR>
+        </Gemini335>
+        <!-- Gemini2RL config -->
+        <Gemini335L>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
 
-            <!-- Depth Filter Params -->
+            <!--  Depth Filter Params -->
             <!--
             <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-			-->
-			<Depth>
-			    <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--Open flow waits for the timeout period of the first frame of data, after which the open flow will fail-->
-				<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
-                <!--The resolution width is enabled by default, int type-->
+			 -->
+            <Depth>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y16</Format>
             </Depth>
             <Color>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>720</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>MJPG</Format>
             </Color>
             <IR>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
             </IR>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
-            </IR_RIGHT>
-        </OrbbecGemini335L>
-        
-        <!--Gemini 336 config-->
-        <OrbbecGemini336>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaultHeartBeat>0</DefaultHeartBeat>
-			<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
-			<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+            </RightIR>
+        </Gemini335L>
 
-            <!-- Depth Filter Params -->
-            <!--
-            <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-			-->
-			<Depth>
-			    <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--Open flow waits for the timeout period of the first frame of data, after which the open flow will fail-->
-				<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
-                <!--The resolution width is enabled by default, int type-->
+        <!-- Gemini335Lg config -->
+        <Gemini335Lg>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+            <Depth>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y16</Format>
             </Depth>
             <Color>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>720</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>MJPG</Format>
             </Color>
             <IR>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
             </IR>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
-            </IR_RIGHT>
-        </OrbbecGemini336>
-		
-		<!--Gemini 336L config-->
-        <OrbbecGemini336L>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaultHeartBeat>0</DefaultHeartBeat>
-			<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
-			<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+            </RightIR>
+        </Gemini335Lg>
+        <!-- Gemini 336 config -->
+        <Gemini336>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
 
-            <!-- Depth Filter Params -->
+            <!--  Depth Filter Params -->
             <!--
             <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-			-->
-			<Depth>
-			    <!--Number of retries for open stream failures, 0 means no retries-->
-				<StreamFailedRetry>0</StreamFailedRetry>
-				<!--Open flow waits for the timeout period of the first frame of data, after which the open flow will fail-->
-				<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
-				<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
-				<StreamInterruptedRestart>0</StreamInterruptedRestart>
-				<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
-				<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
-                <!--The resolution width is enabled by default, int type-->
+			 -->
+            <Depth>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y16</Format>
             </Depth>
             <Color>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>720</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>MJPG</Format>
             </Color>
             <IR>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
             </IR>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>848</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>480</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>30</FPS>
                 <Format>Y8</Format>
-            </IR_RIGHT>
-        </OrbbecGemini336L>
-        <!--Gemini 215 config-->
-        <OrbbecGemini215>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaultHeartBeat>0</DefaultHeartBeat>
-			<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
-			<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
-			<Depth>
-                <!--The resolution width is enabled by default, int type-->
+            </RightIR>
+        </Gemini336>
+        <!-- Gemini 336L config -->
+        <Gemini336L>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+
+            <!--  Depth Filter Params -->
+            <!--
+            <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
+			 -->
+            <Depth>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>0</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
+                <!-- The number of data stream restarts due to abnormal interruption, 0 means no
+                restart -->
+                <StreamInterruptedRestart>0</StreamInterruptedRestart>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>480</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y16</Format>
+            </Depth>
+            <Color>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
+                <Height>720</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>MJPG</Format>
+            </Color>
+            <IR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>480</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </IR>
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>480</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>480</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </RightIR>
+        </Gemini336L>
+        <!-- Gemini 215 config -->
+        <Gemini215>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+            <Depth>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>15</FPS>
                 <Format>Y16</Format>
                 <ProfileFilter>
-				<profile>
-				<Format>Y8</Format>
-				</profile>
-				</ProfileFilter>
+                    <profile>
+                        <Format>Y8</Format>
+                    </profile>
+                </ProfileFilter>
             </Depth>
             <Color>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>720</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>15</FPS>
                 <Format>MJPG</Format>
             </Color>
             <IR>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>15</FPS>
                 <Format>Y8</Format>
             </IR>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>15</FPS>
                 <Format>Y8</Format>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>15</FPS>
                 <Format>Y16</Format>
                 <ProfileFilter>
-				<profile>
-				<Format>Y8</Format>
-				</profile>
-				</ProfileFilter>
-            </IR_RIGHT>
-        </OrbbecGemini215>
-        <!--Gemini 210 config-->
-        <OrbbecGemini210>
-	        <!--Whether to enable heartbeat by default-->
-	        <DefaultHeartBeat>0</DefaultHeartBeat>
-			<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
-			<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
-			<Depth>
-                <!--The resolution width is enabled by default, int type-->
+                    <profile>
+                        <Format>Y8</Format>
+                    </profile>
+                </ProfileFilter>
+            </RightIR>
+        </Gemini215>
+        <!-- Gemini 210 config -->
+        <Gemini210>
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+            <Depth>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>15</FPS>
                 <Format>Y16</Format>
                 <ProfileFilter>
-				<profile>
-				<Format>Y8</Format>
-				</profile>
-				</ProfileFilter>
+                    <profile>
+                        <Format>Y8</Format>
+                    </profile>
+                </ProfileFilter>
             </Depth>
             <Color>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>720</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>15</FPS>
                 <Format>MJPG</Format>
             </Color>
             <IR>
-                <!--The resolution width is enabled by default, int type-->
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>15</FPS>
                 <Format>Y8</Format>
             </IR>
-			<IR_LEFT>
-                <!--The resolution width is enabled by default, int type-->
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>15</FPS>
                 <Format>Y8</Format>
-            </IR_LEFT>
-			<IR_RIGHT>
-                <!--The resolution width is enabled by default, int type-->
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
                 <Width>1280</Width>
-                <!--High resolution is enabled by default, int type-->
+                <!-- High resolution is enabled by default, int type -->
                 <Height>800</Height>
-                <!--The frame rate of the resolution enabled by default, int type-->
+                <!-- The frame rate of the resolution enabled by default, int type -->
                 <FPS>15</FPS>
                 <Format>Y16</Format>
                 <ProfileFilter>
-				<profile>
-				<Format>Y8</Format>
-				</profile>
-				</ProfileFilter>
-            </IR_RIGHT>
-        </OrbbecGemini210>
+                    <profile>
+                        <Format>Y8</Format>
+                    </profile>
+                </ProfileFilter>
+            </RightIR>
+        </Gemini210>
     </Device>
-</Config>
+</Config>
\ No newline at end of file
diff --git a/orbbec_camera/include/orbbec_camera/constants.h b/orbbec_camera/include/orbbec_camera/constants.h
index aca43027..e8c2ba2b 100644
--- a/orbbec_camera/include/orbbec_camera/constants.h
+++ b/orbbec_camera/include/orbbec_camera/constants.h
@@ -23,7 +23,7 @@
 
 #define OB_ROS_MAJOR_VERSION 2
 #define OB_ROS_MINOR_VERSION 0
-#define OB_ROS_PATCH_VERSION 2
+#define OB_ROS_PATCH_VERSION 3
 
 #ifndef STRINGIFY
 #define STRINGIFY(arg) #arg