diff --git a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
index e03664d..7c09a02 100644
--- a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
+++ b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
@@ -163,12 +163,13 @@ void GX40GimbalDriver::convert(void *buf)
     this->state.workMode = (amovGimbal::AMOV_GIMBAL_SERVO_MODE_T)primary->workMode;
     this->state.cameraFlag = (amovGimbal::AMOV_GIMBAL_CAMERA_FLAG_T)primary->state;
     // 应该需要再解算一下，才能出具体的框架角度
-    this->state.rel.yaw = 360.0f - (primary->motorYaw * XF_ANGLE_DPI);
+    this->state.rel.yaw = -(primary->motorYaw * XF_ANGLE_DPI);
+    this->state.rel.yaw = this->state.rel.yaw < -180.0f ? this->state.rel.yaw + 360.0f : this->state.rel.yaw;
     this->state.rel.pitch = -(primary->motorPitch * XF_ANGLE_DPI);
     this->state.rel.roll = -(primary->motorRoll * XF_ANGLE_DPI);
 
-    this->state.abs.yaw = (primary->yaw * XF_ANGLE_DPI);
-    this->state.abs.yaw = this->state.abs.yaw > 180.0f ? this->state.abs.yaw - 360.0f : this->state.abs.yaw;
+    this->state.abs.yaw = -(primary->yaw * XF_ANGLE_DPI);
+    this->state.abs.yaw = this->state.abs.yaw < -180.0f ? this->state.abs.yaw + 360.0f : this->state.abs.yaw;
 
     this->state.abs.pitch = -(primary->pitch * XF_ANGLE_DPI);
     this->state.abs.roll = -(primary->roll * XF_ANGLE_DPI);
diff --git a/samples/demo/gimbal_detection_with_clicked_tracking.cpp b/samples/demo/gimbal_detection_with_clicked_tracking.cpp
index 441fd26..d6b924b 100644
--- a/samples/demo/gimbal_detection_with_clicked_tracking.cpp
+++ b/samples/demo/gimbal_detection_with_clicked_tracking.cpp
@@ -94,7 +94,6 @@ int main(int argc, char *argv[])
       // 读取一帧图像到img
       cap.read(img);
       cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
-      cv::imshow(RGB_WINDOW, img);
 
       // 执行通用目标检测
       cod.detect(img, tgts);
@@ -201,7 +200,7 @@ int main(int argc, char *argv[])
       }
     } // end of tracking
     // 显示检测结果img
-    // cv::imshow(RGB_WINDOW, img);
+    cv::imshow(RGB_WINDOW, img);
     cv::waitKey(10);
   }
   return 0;
diff --git a/samples/demo/gimbal_udp_detection_info_sender.cpp b/samples/demo/gimbal_udp_detection_info_sender.cpp
index 27a3cbd..0d826df 100644
--- a/samples/demo/gimbal_udp_detection_info_sender.cpp
+++ b/samples/demo/gimbal_udp_detection_info_sender.cpp
@@ -7,21 +7,21 @@ using namespace std;
 
 // yaw roll pitch
 double gimbalEulerAngle[3];
-void gimableCallback(double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
-                     double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
+void gimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
+                     double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
                      double &fov_x, double &fov_y)
 {
   static int count = 0;
   if (count == 25)
   {
-    std::cout << "GIMBAL_CMD_RCV_POS" << std::endl;
-    std::cout << "=============================================" << std::endl;
-    std::cout << "HALL_yaw:" << frame_ang_y << " " << std::endl;
-    std::cout << "HALL_roll:" << frame_ang_r << " " << std::endl;
-    std::cout << "HALL_pitch:" << frame_ang_p << " " << std::endl;
-    std::cout << "GYRO_yaw:" << imu_ang_y << " " << std::endl;
-    std::cout << "GYRO_roll:" << imu_ang_r << " " << std::endl;
-    std::cout << "GYRO_pitch:" << imu_ang_p << " " << std::endl;
+    // std::cout << "GIMBAL_CMD_RCV_POS" << std::endl;
+    // std::cout << "=============================================" << std::endl;
+    // std::cout << "HALL_yaw:" << frame_ang_y << " " << std::endl;
+    // std::cout << "HALL_roll:" << frame_ang_r << " " << std::endl;
+    // std::cout << "HALL_pitch:" << frame_ang_p << " " << std::endl;
+    // std::cout << "GYRO_yaw:" << imu_ang_y << " " << std::endl;
+    // std::cout << "GYRO_roll:" << imu_ang_r << " " << std::endl;
+    // std::cout << "GYRO_pitch:" << imu_ang_p << " " << std::endl;
     count = 0;
   }
 
diff --git a/video_io/sv_video_input.cpp b/video_io/sv_video_input.cpp
index 5862280..1a3c6ae 100644
--- a/video_io/sv_video_input.cpp
+++ b/video_io/sv_video_input.cpp
@@ -86,21 +86,22 @@ namespace sv
         this->_port = 554;
       }
 #ifdef PLATFORM_X86_CUDA
-      camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port 
+      camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port
                  << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! application/x-rtp,media=video ! \
-                 rtph265depay ! parsebin ! avdec_h265 ! \
+                 rtph265depay ! parsebin ! avdec_h265 ! videoscale ! video/x-raw,width=(int)" << this->_width
+                 << ",height=(int)" << this->_height << " ! videoflip video-direction=4 ! videoconvert ! video/x-raw,format=(string)BGR ! \
                  appsink sync=false";
-                    std::cout << camera_url.str()<<std::endl;
-      this->_cap.open(camera_url.str(),cv::CAP_GSTREAMER);  
+      this->_cap.open(camera_url.str(), cv::CAP_GSTREAMER);
 #endif
 #ifdef PLATFORM_JETSON
-      camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port 
+      camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port
                  << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! \
                     application/x-rtp,media=video ! rtph265depay ! parsebin ! \
                     nvv4l2decoder ! nvvidconv flip-method=4 ! \
-                    video/x-raw,format=(string)BGRx,width=" << this->_width << ",height=" << this->_height << " ! videoconvert ! \
+                    video/x-raw,format=(string)BGRx,width=(int)"
+                    << this->_width << ",height=(int)" << this->_height << " ! videoconvert ! video/x-raw,format=(string)BGR ! \
                     appsink sync=false";
-      this->_cap.open(camera_url.str(),cv::CAP_GSTREAMER);              
+      this->_cap.open(camera_url.str(), cv::CAP_GSTREAMER);
 #endif
     }
     else if (this->_type == CameraType::MIPI)