GPU usage with RTABMAP

[tugbakara]

Hi @matlabbe !
In this link there is a conversation about using GPU with rtabmap. I want to build all these packages to my Jetson AGX to reduce load in CPU side and reach effective GPU . I searched LAPACK,BLAS, SuiteSparse and FFTW libs, all of them were converted or merged (?) with CUDA are in Nvidia site's , for SuiteSparse : link and my confusion comes into play in that side, these CUDA types libs (cuBLAS, CHOLMOD etc..) can be runable with rtabmap, or do I need to install without CUDA types libs (LAPACK,BLAS,SuiteSparse etc..)?

[matlabbe]

If their API is similar to CPU version and use the same library name, one may replace the libraries directly. I have never tried to do this, so not sure how this could be done.