Tutorial for using GMSL image with OpenCV

Hi all,
I know that there are many people already ask about this. But until now, I can not find any proper solution to this problem. The only solution for this always: " please use nvmedia_sample ". I found this is very hard for everybody ( or at least a beginner like me ) to make this.
OpenCV is the most well-known library for computer vision. Many applications are developed based on OpenCV. So it would be nice that we can have a little tutorial ( example code ) that acquire image data from the GSML camera, convert it to OpenCV Mat and display with cv::imshow.
I think a simple tutorial like this will improve the development of PX2 a lot. The developer can focus to deploy the application. Thanks a lot in advance

Best regards