FFmpeg commands to be used for HW accelerated encoding on AGX

After installing FFmpeg through “sudo apt install ffmpeg” on Xavier, what ffmpeg command line can be used on AGX to use the NVENC/NVDEC for H.264 and H.265 HW acceleration? For example the following commands can be used on PC Host:

ffmpeg -f rawvideo -s:v 2880x1860 -r 10 -pix_fmt yuv420p -i input.yuv -vcodec h264_nvenc -preset llhq -level 5.1 -maxrate 15000k -minrate 13000k -cq 20 -g 15 -vsync 0 output-264.mp4 -y

ffmpeg -f rawvideo -s:v 2880x1860 -r 10 -pix_fmt yuv420p -i input.yuv -vcodec hevc_nvenc -preset llhq -level 5.1 -maxrate 15000k -minrate 13000k -cq 20 -g 15 -vsync 0 output-265.mp4 -y

What are the related commands can be used for the same or similar functions on AGX?

We have guidance in developer guide. Please take a look.

Seems above developer guide is for decode, but not encode(?)

Also it tells functional flow, but not shell commands as the samples I listed above for PC Host and try to find for AGX/Xavier.

We have enabled hardware decoding. Hardware encoding is not included yet. For encoding, there is a package from community. Please check
Jetson Nano FAQ
Q: Is hardware acceleration enabled in ffmpeg?

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