First CUDA Call Takes Over 45 Seconds

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All, the title describes my problem. I know the that the first CUDA call initializes a ton of CUDA contexts, but on my CARMA Devboard this takes over 45 second. The first call to a cv::gpu::Mat which actually constructs the memory blocks for a very long time.

1. Is this normal?
2. Is there a way to speed it up? Is this caused by JIT compiling cuda object files?

Thank you