import cv2

# GStreamer pipeline for IMX477
pipeline = (
    "nvarguscamerasrc sensor-id=0 ! "
    "video/x-raw(memory:NVMM), width=4056, height=3040, format=NV12, framerate=30/1 ! "
    "nvvidconv flip-method=2 ! "
    "video/x-raw, width=1920, height=1080, format=BGRx ! "
    "videoconvert ! "
    "video/x-raw, format=BGR ! appsink"
)

cap = cv2.VideoCapture(pipeline, cv2.CAP_GSTREAMER)

if not cap.isOpened():
    print("Failed to open camera")
    exit()

while True:
    ret, frame = cap.read()
    if not ret:
        print("Failed to capture image")
        break

    cv2.imshow("CSI Camera", frame)

    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

cap.release()
cv2.destroyAllWindows()