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I have ip camera that can stream audio and video by http.

This simple pipe for audio and video worked fine:
gst-launch-1.0 -v playbin uri=http://admin:1@192.168.81.30/videostream.asf

This pipe for video stream only (videostream.cgi) worked fine too:
gst-launch-1.0 souphttpsrc location=http://192.168.81.30/videostream.cgi do-timestamp=true user-id=admin user-pw=1 ! multipartdemux ! avdec_mjpeg ! videoconvert ! xvimagesink

What element I should add to last pipe to get video and audio together?

My system is Linux machine 3.5.7-gentoo #2 SMP

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