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https://docs.nvidia.com/jetson/l4t/index...ID0E0JB0HA

This mentions repository that contains binaries / source for Accelerated Decode with ffmpeg

I tried it, never worked for me, so had to build adapter for V4L2 video (which FFMPEG-L4T actually using under the hood).  We had quite success with it. So far few issues reported with interlacing, and CEC-Supoprt. 
There is latest nvidia-docker container, if you willing to give it a shot. All instructions are on docker description page.