Accessing the underlying GPU of Jetson TX-2?

what is the best approach to access the tx2 gpu?

I am installing VTK and want to utilize the gpu. Either I install mesa in container, or use --device to link to host as per this gist: https://github.com/Technica-Corporation/Tegra-Docker This assumes that the resinOS for tx2 has gpu drivers and possibly Cuda installed.

How would Cuda or OpenCL be handled?