Hello.How to apply nvidia vpi api with csi camera?

Tried opt/nvidia/vpi/samples,worked fine.
“12-optflow_lk” defined Fetchframe function using the opencv functions to fetch each frame .The “vpiImageCreateOpenCVMatWrapper” function wrapped data from cv::Mat format to VPIImage format and did caculation.
“2-stereo_disparity” cv::read a left image and a right image,wrapped it and did “vpiCreateStereoDisparityEstimator”.
I used IMX219-83 csi stereo camera,Xavier NX,JetPack 4.51.


You can read the CSI camera into cv::Mat with the example shown below:
And then wrap the cv::Mat into VPIImage with vpiImageCreateOpenCVMatWrapper.