From 4554e8d2561a386eecfa9fd145b8f1dda2d0c5b7 Mon Sep 17 00:00:00 2001
From: Daniel <1367240116@qq.com>
Date: Tue, 4 Jul 2023 09:04:29 +0000
Subject: [PATCH] update video_io/sv_video_base.cpp.

Signed-off-by: Daniel <1367240116@qq.com>
---
 video_io/sv_video_base.cpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/video_io/sv_video_base.cpp b/video_io/sv_video_base.cpp
index 573f744..d0bd037 100644
--- a/video_io/sv_video_base.cpp
+++ b/video_io/sv_video_base.cpp
@@ -1133,6 +1133,22 @@ void CameraBase::openImpl()
     // this->_cap.open(pipe);  // cv::CAP_GSTREAMER
     this->_cap.open(pipe, cv::CAP_GSTREAMER);
   }
+  else if (this->_type == CameraType::MIPI)
+  {
+    char pipe[512];
+    this->_cap.open(this->_camera_id);
+    if (this->_width <= 0 || this->_height <= 0)
+    {
+      this->_width = 1280;
+      this->_height = 720;
+    }
+    if (this->_fps <= 0)
+    {
+      this->_fps = 30;
+    }
+    sprintf(pipe, "nvarguscamerasrc framerate=(fraction)%d/1 ! nvvidconv flip-method=0 ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink", this->_fps, this->_width, this->_height);
+    this->_cap.open(pipe, cv::CAP_GSTREAMER);
+  }
 }
 void CameraBase::open(CameraType type, int id)
 {