<?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. -->
    <ConfigStandardVersion>1.1</ConfigStandardVersion>

    <Log>
        <!-- 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 -->
        <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) -->
        <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 -->
        <PipelineFrameQueueSize>10</PipelineFrameQueueSize>
        <!-- Frame buffer queue size in internal processing unit -->
        <FrameProcessingBlockQueueSize>10</FrameProcessingBlockQueueSize>
    </Memory>

    <!-- 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 -->
                <UseDefaultStreamProfile>true</UseDefaultStreamProfile>
            </Depth>
            <Color>
                <UseDefaultStreamProfile>true</UseDefaultStreamProfile>
                <![CDATA[
                    <!--  Set UseDefaultStreamProfile to false to use the specified stream profile in the configuration file -->
                    <UseDefaultStreamProfile>false</UseDefaultStreamProfile>
                    <!-- Width of the resolution, int type -->
                    <Width>1920</Width>
                    <!-- Height of the resolution, int type -->
                    <Height>1080</Height>
                    <!-- Frame rate, int type -->
                    <FPS>30</FPS>
                    <!-- frame format -->
                    <Format>MJPG</Format>
                ]]>
            </Color>
            <!-- If you need to open other streams, you can refer to the above configuration to add -->
        </Stream>
    </Pipeline>

    <!-- Default configuration of data streams for different types of devices -->
    <Device>
        <!-- Whether to enumerate network devices, bool type, true-enable, false-disable (default) -->
        <EnumerateNetDevice>true</EnumerateNetDevice>

        <!-- Global UVC Backend select on Linux; optional values: Auto, V4L2, LibUVC; The default
        setting is "Auto," which will automatically select the appropriate option based on the
        system's capabilities and the device's speciality. -->
        <LinuxUVCBackend>Auto</LinuxUVCBackend>

        <FemtoMega>
            <!-- For Femto-Mega devices, it must be set to V4L2, LibUVC is not supported -->
            <LinuxUVCDefaultBackend>V4L2</LinuxUVCDefaultBackend>

            <Misc>
                <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>

            <Depth>
                <!-- The width of the default resolution, int type -->
                <Width>640</Width>
                <!-- The height of the default resolution, int type -->
                <Height>576</Height>
                <!-- Default frame rate, int type -->
                <FPS>30</FPS>
                <!-- Default frame format -->
                <Format>Y16</Format>
            </Depth>

            <Color>
                <!-- The width of the default resolution, int type -->
                <Width>1920</Width>
                <!-- The height of the default resolution, int type -->
                <Height>1080</Height>
                <!-- Default frame rate, int type -->
                <FPS>30</FPS>
                <!-- Default frame format -->
                <Format>MJPG</Format>
            </Color>

            <IR>
                <!-- The width of the default resolution, int type -->
                <Width>640</Width>
                <!-- The height of the default resolution, int type -->
                <Height>576</Height>
                <!-- Default frame rate, int type -->
                <FPS>30</FPS>
                <!-- Default frame format -->
                <Format>Y16</Format>
            </IR>
        </FemtoMega>

        <FemtoMegai>
            <Misc>
                <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>
            
            <Depth>
                <!-- The width of the default resolution, int type -->
                <Width>640</Width>
                <!-- The height of the default resolution, int type -->
                <Height>576</Height>
                <!-- Default frame rate, int type -->
                <FPS>30</FPS>
                <!-- Default frame format -->
                <Format>Y16</Format>
            </Depth>

            <Color>
                <!-- The width of the default resolution, int type -->
                <Width>1920</Width>
                <!-- The height of the default resolution, int type -->
                <Height>1080</Height>
                <!-- Default frame rate, int type -->
                <FPS>30</FPS>
                <!-- Default frame format -->
                <Format>MJPG</Format>
            </Color>

            <IR>
                <!-- The width of the default resolution, int type -->
                <Width>640</Width>
                <!-- The height of the default resolution, int type -->
                <Height>576</Height>
                <!-- Default frame rate, int type -->
                <FPS>30</FPS>
                <!-- Default frame format -->
                <Format>Y16</Format>
            </IR>
        </FemtoMegai>

        <FemtoBolt>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <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>

            <Depth>
                <!-- The width of the default resolution, int type -->
                <Width>640</Width>
                <!-- The height of the default resolution, int type -->
                <Height>576</Height>
                <!-- Default frame rate, int type -->
                <FPS>30</FPS>
                <!-- Default frame format -->
                <Format>Y16</Format>
            </Depth>

            <Color>
                <!-- The width of the default resolution, int type -->
                <Width>1920</Width>
                <!-- The height of the default resolution, int type -->
                <Height>1080</Height>
                <!-- Default frame rate, int type -->
                <FPS>30</FPS>
                <!-- Default frame format -->
                <Format>MJPG</Format>
            </Color>

            <IR>
                <!-- The width of the default resolution, int type -->
                <Width>640</Width>
                <!-- The height of the default resolution, int type -->
                <Height>576</Height>
                <!-- Default frame rate, int type -->
                <FPS>30</FPS>
                <!-- Default frame format -->
                <Format>Y16</Format>
            </IR>
        </FemtoBolt>

        <!-- Gemini2 config -->
        <Gemini2>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <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>

            <!-- Whether to enable heartbeat by default -->
            <DefaultHeartBeat>0</DefaultHeartBeat>
            <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 -->
                <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 -->
            <!-- 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 -->
            </UnbinnedDenseDefault>
            <!-- 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 -->
            </UnbinnedSparseDefault>
            <!-- 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 -->
                <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>
                </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 -->
                    <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>
            </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>
                <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>
        </Gemini2>

        <!-- Gemini2L config -->
        <Gemini2L>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <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>

            <!-- Whether to enable heartbeat by default -->
            <DefaultHeartBeat>0</DefaultHeartBeat>

            <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 -->
                <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>
            </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>
            </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 -->
            <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>
                </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>
            <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>
        </Gemini2L>

        <!-- Astra2 config -->
        <Astra2>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <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>

            <!-- Whether to enable heartbeat by default -->
            <DefaultHeartBeat>0</DefaultHeartBeat>

            <!-- 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>
                <!-- 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>

        <!--  Gemini2XL config -->
        <Gemini2XL>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <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>

            <!-- Whether to enable heartbeat by default -->
            <DefaultHeartBeat>0</DefaultHeartBeat>

            <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 -->
                <FPS>10</FPS>
                <Format>RVL</Format>
            </Depth>
            <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>
            </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>
            </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>
            </RightIR>
            <Accel>
            </Accel>
            <Gyro>
            </Gyro>

            <!-- Configurations in different camera depth modes -->
            <BinnedSparseDefault>
                <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>20</FPS>
                    <Format>MJPG</Format>
                </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>
                </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>
                </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>20</FPS>
                    <Format>Y8</Format>
                </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>
                </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>
                </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>
                </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>
                </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>
                </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>
                </RightIR>
            </In-sceneCalibration>
        </Gemini2XL>

        <!-- Gemini2R config -->
        <Gemini335>
            <!-- Default backend for Linux UVC devices. If the LinuxUVCBackend is set to "Auto,"
            this item will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <!-- 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>
                <!-- 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 -->
                <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>
        </Gemini335>

        <!-- Gemini2RL config -->
        <Gemini335L>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <!-- 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>
                <!-- 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 -->
                <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>
        </Gemini335L>
        <!-- Gemini 330 config -->
        <Gemini330>
            <!-- Default backend for Linux UVC devices. If the LinuxUVCBackend is set to "Auto,"
            this item will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <!-- 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 -->
                <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>
        </Gemini330>

        <!-- Gemini 330L config -->
        <Gemini330L>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <!-- 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 -->
                <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>
        </Gemini330L>

        <!-- Gemini335Lg config -->
        <Gemini335Lg>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <!-- 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>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 -->
                <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>
        </Gemini335Lg>
		
		<!-- Gemini335Le config -->
        <Gemini335Le>
            <!-- Whether to enable heartbeat by default -->
            <DefaultHeartBeat>0</DefaultHeartBeat>
            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
            supports -->
            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>

			<Misc>
                <GlobalTimestampFitterEnable>true</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>
			
			<DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>
			
			<!-- 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>
                <!-- 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>Y16</Format>
            </Depth>
            <Color>
                <!-- 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>MJPG</Format>
            </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>15</FPS>
                <Format>Y8</Format>
            </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>15</FPS>
                <Format>Y8</Format>
            </RightIR>
        </Gemini335Le>

        <!-- Gemini 336 config -->
        <Gemini336>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <!-- 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>
                <!-- 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 -->
                <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>
        </Gemini336>

        <!-- Gemini 336L config -->
        <Gemini336L>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <!-- 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>
                <!-- 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 -->
                <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>

        <!--DaBaiA config-->
        <DaBaiA>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <!--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>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>Y16</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>
            <LeftIR>
                <!--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>
            </LeftIR>
            <RightIR>
                <!--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>
            </RightIR>
        </DaBaiA>
        <!--Gemini345 config-->
        <Gemini345>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>
            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <!--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>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>Y16</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>
            <LeftIR>
                <!--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>
            </LeftIR>
            <RightIR>
                <!--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>
            </RightIR>
        </Gemini345>

        <!--DaBaiAL config-->
        <DaBaiAL>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>
            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <!--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>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>Y16</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>
            <LeftIR>
                <!--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>
            </LeftIR>
            <RightIR>
                <!--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>
            </RightIR>
        </DaBaiAL>
        <!--Gemini345Lg config-->
        <Gemini345Lg>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>
            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <!--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>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>Y16</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>
            <LeftIR>
                <!--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>
            </LeftIR>
            <RightIR>
                <!--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>
            </RightIR>
        </Gemini345Lg>
		<!-- Gemini210 config -->
        <Gemini210>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <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>

            <!-- Whether to enable heartbeat by default -->
            <DefaultHeartBeat>0</DefaultHeartBeat>

            <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 -->
                <FPS>15</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 -->
                <Height>720</Height>
                <!-- The frame rate of the resolution enabled by default, int type -->
                <FPS>15</FPS>
                <!-- The frame rate of the resolution enabled by default, int type -->
                <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>15</FPS>
                <!-- The frame rate of the resolution enabled by default, int type -->
                <Format>Y8</Format>
            </IR>
        </Gemini210>
		<!-- Gemini215 config -->
        <Gemini215>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <Misc>
                <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>

            <!-- Whether to enable heartbeat by default -->
            <DefaultHeartBeat>0</DefaultHeartBeat>

            <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 -->
                <FPS>15</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 -->
                <Height>720</Height>
                <!-- The frame rate of the resolution enabled by default, int type -->
                <FPS>15</FPS>
                <!-- The frame rate of the resolution enabled by default, int type -->
                <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>15</FPS>
                <!-- The frame rate of the resolution enabled by default, int type -->
                <Format>Y8</Format>
            </IR>
        </Gemini215>

        <!-- CAM-5330 config -->
        <CAM-5330>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <!-- 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 -->
                <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>
        </CAM-5330>

        <!-- CAM-5530 config -->
        <CAM-5530>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <DepthPostProcessing>
                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
            </DepthPostProcessing>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <!-- 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 -->
                <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>
        </CAM-5530>
        
               <!--  Gemini435Le config -->
        <Gemini435Le>
            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
            will determine the device's speciality. Optional values: V4L2, LibUVC -->
            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>

            <!-- Whether to enable heartbeat by default -->
            <DefaultHeartBeat>0</DefaultHeartBeat>

            <!--Max frame delay-->
            <MaxFrameDelay>1.2</MaxFrameDelay>

            <Misc>
                <GlobalTimestampFitterEnable>true</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>

            <Depth>
                <!-- Number of retries for open stream failures, 0 means no retries -->
                <StreamFailedRetry>15</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 maximum frame interval time, if this value is exceeded, it will be judged
                that the stream is interrupted -->
                <MaxFrameIntervalMs>3000</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>Y16</Format>
            </Depth>
            <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>15</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 maximum frame interval time, if this value is exceeded, it will be judged
                that the stream is interrupted -->
                <MaxFrameIntervalMs>3000</MaxFrameIntervalMs>
            </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>15</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 maximum frame interval time, if this value is exceeded, it will be judged
                that the stream is interrupted -->
                <MaxFrameIntervalMs>3000</MaxFrameIntervalMs>
            </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>15</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 maximum frame interval time, if this value is exceeded, it will be judged
                that the stream is interrupted -->
                <MaxFrameIntervalMs>3000</MaxFrameIntervalMs>
            </RightIR>
            <Accel>

                <!-- 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 maximum frame interval time, if this value is exceeded, it will be judged
                that the stream is interrupted -->
                <MaxFrameIntervalMs>3000</MaxFrameIntervalMs>
            </Accel>
            <Gyro>
                <!-- 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 maximum frame interval time, if this value is exceeded, it will be judged
                that the stream is interrupted -->
                <MaxFrameIntervalMs>3000</MaxFrameIntervalMs>
            </Gyro>

            <!-- Configurations in different camera depth modes -->
            <BinnedSparseDefault>
                <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>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 -->
                    <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
                </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>
                <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 -->
                    <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>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 -->
                    <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>
            </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 -->
                    <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
                </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 -->
                    <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 -->
                    <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 -->
                    <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
                </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 -->
                    <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
                </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 -->
                    <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 -->
                    <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 -->
                    <MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
                </RightIR>
            </In-sceneCalibration>
        </Gemini435Le>
    </Device>
</Config>
