ConnectCore 6 SBC i.MX6D and RAW image sensor

Hello DIGI community!

I am bit playing around with Digi ConnectCore 6 SBC based on NXP i.MX6Dual MPU

I would like to get this SBC working with MIPI/CSI image sensor which outputs data in RAW8 or RAW10 or RAW12 (MONO!) mode and be able to display the image on HDMI screen.

From doc here there is an example of previewing a camera image using gstreamer and command:
~# gst-launch-1.0 imxv4l2src device=/dev/video0 ! imxv4l2sink
(I believe it works out-of-the-box with OV5640)

As I am still on the learning curve with Yocto, could you please advise what and where should be changed to make this set working (RAW image sensor + CC6 + HDMI display)?

So far, I have dey-image-qt image up and running on CC6, and I am able to see the desktop with Digi logo on HDMI display.

Any hints more than welcome!