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Linux/AM5728: Best way to make zero copy video pipe

Part Number: AM5728

Tool/software: Linux

I have AM5728 board with great list capabilities: OpenCL, VPE, OpenGL and would love to built video pipe with zero copy approach for following pipe(s):

V4L2->VPE->(OpenCL, OpenGL)->VPE

V4L2->(OpenCL, OpenGL)->VPE

V4L2->VPE->OpenGL->OpenCL->VPE

Pixel format: flavors of YUV: YUYV,I420,I422,NV12 or compressed  MJPEG/H264... 

What would be the best way to make zero copy connections between following libraries?

1. V4L2->VPE/OpenGL/OpenCL

2. VPE->OpenGL/OpenCL

3. OpenGL/OpenCL->VPE

Thanks