From 73b5f46e6d6f6c474be3681c0312c73b14372b99 Mon Sep 17 00:00:00 2001
From: lxm <1367240116@qq.com>
Date: Wed, 19 Jul 2023 18:15:59 +0800
Subject: [PATCH] add the way to open G1 in X86_CUDA

---
 video_io/sv_video_base.cpp  |  2 +-
 video_io/sv_video_input.cpp | 11 +++++++++--
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/video_io/sv_video_base.cpp b/video_io/sv_video_base.cpp
index b4da4e5..cb57fe8 100644
--- a/video_io/sv_video_base.cpp
+++ b/video_io/sv_video_base.cpp
@@ -1110,7 +1110,7 @@ void CameraBase::_run()
 }
 bool CameraBase::read(cv::Mat& image)
 {
-  if (this->_type == CameraType::WEBCAM || this->_type == CameraType::G1)
+  if (this->_type == CameraType::WEBCAM || this->_type == CameraType::G1 || this->_type == CameraType::MIPI)
   {
     int n_try = 0;
     while (n_try < 5000)
diff --git a/video_io/sv_video_input.cpp b/video_io/sv_video_input.cpp
index 18e34c4..6f811ff 100644
--- a/video_io/sv_video_input.cpp
+++ b/video_io/sv_video_input.cpp
@@ -67,8 +67,15 @@ void Camera::openImpl()
       this->_fps = 30;
     }
 
-    sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
-    this->_cap.open(pipe, cv::CAP_GSTREAMER);
+    
+    #ifdef PLATFORM_X86_CUDA
+        sprintf(pipe, "rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
+        this->_cap.open(pipe);
+    #endif
+    #ifdef PLATFORM_JETSON
+          sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
+          this->_cap.open(pipe, cv::CAP_GSTREAMER);
+    #endif
   }
   else if (this->_type == CameraType::MIPI)
   {