Grainy images with a 12.3MP IMX477 HQ Camera Module with 6mm CS Lens

Nvidia Jetson Nano/NX Cameras
1

I have a 12.3MP IMX477 HQ Camera Module with 6mm CS Lens connected directly a nano (not USB) and my snapshots and video are not very clear. I followed the instructions at
https://www.arducam.com/docs/camera-for-jetson-nano/native-jetson-cameras-imx219-imx477/imx477/#jpeg-snapshots
Attached is an image i took with the following command:

SENSOR_ID=0 # 0 for CAM0 and 1 for CAM1 ports
FRAMERATE=30 # Framerate can go from 2 to 30 for 4032x3040 mode
NUMBER_OF_SNAPSHOTS=20
gst-launch-1.0 -e nvarguscamerasrc num-buffers=$NUMBER_OF_SNAPSHOTS sensor-id=$SENSOR_ID ! "video/x-raw(memory:NVMM),width=4032,height=3040,framerate=$FRAMERATE/1" ! nvjpegenc ! multifilesink location=%03d_rpi_v3_imx477_cam$SENSOR_ID.jpeg

It has a very pixelated look to me. Any thoughts on what could be going on?

Thanks.

4k
4k1920×1448 241 KB

2

Are all pictures like this?
The first few pictures may be abnormal, because the ISP needs a little time to adjust, and the last few pictures are normal in general.