OpenGL ES - FrankBau/meta-marsboard-bsp GitHub Wiki
i.MX6 supports OpenGL ES Version 2 and 3.
If you are using the framebuffer backend instead of X11, use https://github.com/FrankBau/opengles3-book/
Using OpenGL ES for zero-copy video display: http://events.linuxfoundation.org/sites/events/files/slides/slides_4.pdf