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How to play seperated video/audio es data with gstreamer using hardware decoding in DM814x?

Currently, our application can pass seperated video es and audio es to gstreamer layer.

Then How can we play video/audio es fiels at the same time with gstreamer using hardware decoding?

Can gst-launch get two source of input, video/audio, and play at the same time? What command we should use to do this?