Please follow the documentation to upgrade your system to latest version.

For new kernel(5.10.160)

$ sudo apt istall camera-engine-rkaiq
$ sudo reboot

You can find the video nodes from the table below.

Record video from CAM1:

gst-launch-1.0 v4l2src device=/dev/video33 io-mode=dmabuf num-buffers=300 ! mpph264enc ! h264parse ! qtmux ! filesink location=/tmp/video33.mp4

Record video from CAM2:

gst-launch-1.0 v4l2src device=/dev/video24 io-mode=dmabuf num-buffers=300 ! mpph264enc ! h264parse ! qtmux ! filesink location=/tmp/video24.mp4

Record video from CAM3:

gst-launch-1.0 v4l2src device=/dev/video42 io-mode=dmabuf num-buffers=300 ! mpph264enc ! h264parse ! qtmux ! filesink location=/tmp/video42.mp4

Follow the steps below to install v4l-utils:

sudo apt update
sudo apt install v4l-utils

Capture frame from CAM1:

v4l2-ctl -d /dev/video33 --set-fmt-video=width=3840,height=2160,pixelformat=NV12 --stream-mmap=3 --stream-skip=3 --stream-to=/tmp/data33.yuv --stream-count=1 --stream-poll

Capture frame from CAM2:

v4l2-ctl -d /dev/video24 --set-fmt-video=width=3840,height=2160,pixelformat=NV12 --stream-mmap=3 --stream-skip=3 --stream-to=/tmp/data24.yuv --stream-count=1 --stream-poll

Capture frame from CAM3:

v4l2-ctl -d /dev/video42 --set-fmt-video=width=3840,height=2160,pixelformat=NV12 --stream-mmap=3 --stream-skip=3 --stream-to=/tmp/data42.yuv --stream-count=1 --stream-poll

It will capture a 3840×2160 NV12 format frame to file /tmp/dataXX.yuv.

Preview the file:

$ ffplay -f rawvideo -pixel_format nv12 -video_size 3840x2160 /tmp/dataXX.yuv