import cv2
import time



def gstreamer_pipeline(
    capture_width=1280,
    capture_height=720,
    display_width=1280,
    display_height=720,
    framerate=60,
    flip_method=0,
):
    return (
        "nvarguscamerasrc ! "
        "video/x-raw(memory:NVMM), "
        "width=(int)%d, height=(int)%d, "
        "format=(string)NV12, framerate=(fraction)%d/1 ! "
        "nvvidconv flip-method=%d ! "
        "video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! "
        "videoconvert ! "
        "video/x-raw, format=(string)BGR ! appsink"
        % (
            capture_width,
            capture_height,
            framerate,
            flip_method,
            display_width,
            display_height,
        )
    )

if __name__=='__main__':
    print(gstreamer_pipeline(flip_method=0))
    #cap = cv2.VideoCapture(gstreamer_pipeline(flip_method=0), cv2.CAP_GSTREAMER)
    cap = cv2.VideoCapture(0)
    if cap.isOpened():
        window_handle = cv2.namedWindow("CSI Camera", cv2.WINDOW_AUTOSIZE)
        # Window
        while cv2.getWindowProperty("CSI Camera", 0) >= 0:
            ret_val, img = cap.read()
            cv2.imshow("CSI Camera", img)
            # This also acts as
            keyCode = cv2.waitKey(30) & 0xFF
            # Stop the program on the ESC key
            if keyCode == 27:
                break
        cap.release()
        cv2.destroyAllWindows()




#ctdet --exp_id coco_res18 --backbone res_18 --batch_size 1 --load_model ./exp/ctdet/coco_res18/model_best.pth --demo Rpicam