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That post is relatively old, when OpenCV4 was not released yet. "OpenCV 4 Tegra" here means "OpenCV FOR Tegra", which was the term used by NVidia at that time. This walkthrough was tested on 16.04 Jetpack 3, not sure it is still working for jetpack >=4 (18.04). In your case it seems what you want.

Normally, rtabmap should work on Jetpack 3 (16.04) and Jetpack 4 (18.04). Afterwards, it is more if latest opencv4 version is still using tegra optimization on older jetpacks.

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