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libretro-video-processor
Libretro core for V4L2 capture devices
The basic idea is this -- plug your legacy console into a capture device and use RetroArch to upscale it and apply shaders to taste.
Raspberry Pi specific config
Add to /boot/config.txt:
gpu_mem_256=112
gpu_mem_512=368
cma_lwm=16
cma_hwm=32
cma_offline_start=16