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The Tegra K1 GPU in Jetson TK1 uses the same architecture as Kepler desktop GPUs and thus supports desktop-level OpenGL and OpenGL ES. Thus you can write OpenGL code on Jetson TK1 the same way you would write it for a Linux desktop GPU.

OpenGL samples and tutorials contains very good introductory tutorials for OpenGL, starting from very basics such as displaying a 2D triangle in a window to more advanced topics such as shadows and particles.

NVIDIA has numerous tutorials (download samples and documentation) for more advanced topics, often relating to ways of improving performance or combining GPGPU compute with OpenGL 3D graphics.