How to create OpenCV cv::Mat from NvBuffer in Jetpack 5.1

Robotics & Edge Computing Jetson & Embedded Systems Jetson Orin Nano
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Hi,
Please refer to this patch:
NVBuffer (FD) to opencv Mat - #6 by DaneLLL

And replace NvBuffer APIs with NvBufSurfaceMap()/NvBufSurfaceUnMap()