how to use tegra ISP module on Jetson TK1 for bayer to rgb conversion

Hello,

We are using L4T21.5 for jetson tk1.
i want to use tegra ISP module on jetson TK1 for bayer 2 rgb conversion of image coming from sensor.
How to do that?
IS there any gstreamer pipeline? what are the setup need to do?

The same topic with
https://devtalk.nvidia.com/default/topic/1047814