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Add opt-in FlexGlue TensorRT matching for mapping and relocalization - #260

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xiaole/flexglue-matcher
Nov 9, 2026
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Add opt-in FlexGlue TensorRT matching for mapping and relocalization#260
dvorak0 merged 10 commits into
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xiaole/flexglue-matcher

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@xiaolefang-dm

@xiaolefang-dm xiaolefang-dm commented Nov 5, 2026 •
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FlexGlue TensorRT

Mapping and relocalization use LightGlue by default. To use FlexGlue, build both
TensorRT engines on the target GPU, then pass --feature_matcher flexglue to
build_map_node or map_node.

git lfs pull --include="tinynav/models/flexglue*"
make -C tinynav/models flexglue

Jetson Orin Nano Super 8GB, 15W · TensorRT 10.3 · 64 real-corridor requests.

Corridor replay LightGlue TRT FlexGlue TRT
Single pair, median (descriptors ready) 9.9 ms 502.2 ms
Three candidate matches, median 29.8 ms 1,507 ms
Consistent / inconsistent / no pose 32 / 22 / 10 31 / 2 / 31

Pose consistency uses the optimized map reference (position error <0.75 m and
rotation error <10°). Timing covers matching only.

FlexGlue uses the existing SuperPoint keypoints. New FlexGlue maps store about 4 MiB of additional descriptor data per keyframe.

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cloc github.com/AlDanial/cloc v 2.04 T=0.55 s (99.0 files/s, 252320.6 lines/s)
Language files blank comment code
JSON 6 8 0 129564
Python 17 780 385 4363
Markdown 5 191 6 528
C++ 4 60 38 409
CSS 1 58 0 342
Bourne Shell 16 42 9 281
Dockerfile 1 31 32 205
HTML 1 6 0 107
TOML 1 5 0 62
make 1 20 15 62
CMake 1 4 0 17
-------- -------- -------- -------- --------
SUM: 54 1205 485 135940

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cloc github.com/AlDanial/cloc v 2.04 T=0.35 s (144.0 files/s, 388370.6 lines/s)
Language files blank comment code
JSON 3 8 0 129481
Python 17 780 385 4363
Markdown 5 177 6 500
C++ 4 60 38 409
CSS 1 58 0 342
Bourne Shell 16 42 9 281
Dockerfile 1 31 32 205
HTML 1 6 0 107
TOML 1 5 0 62
make 1 20 15 62
CMake 1 4 0 17
-------- -------- -------- -------- --------
SUM: 51 1191 485 135829

@xiaolefang-dm
xiaolefang-dm marked this pull request as ready for review November 5, 2026 07:03
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cloc github.com/AlDanial/cloc v 2.04 T=0.36 s (143.3 files/s, 386436.9 lines/s)
Language files blank comment code
JSON 3 8 0 129481
Python 17 780 385 4363
Markdown 5 181 6 517
C++ 4 60 38 409
CSS 1 58 0 342
Bourne Shell 16 42 9 281
Dockerfile 1 31 32 205
HTML 1 6 0 107
TOML 1 5 0 62
make 1 20 15 62
CMake 1 4 0 17
-------- -------- -------- -------- --------
SUM: 51 1195 485 135846

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cloc github.com/AlDanial/cloc v 2.04 T=0.55 s (93.0 files/s, 250978.9 lines/s)
Language files blank comment code
JSON 3 8 0 129481
Python 17 780 385 4363
Markdown 5 196 6 589
C++ 4 60 38 409
CSS 1 58 0 342
Bourne Shell 16 42 9 281
Dockerfile 1 31 32 205
HTML 1 6 0 107
TOML 1 5 0 62
make 1 20 15 62
CMake 1 4 0 17
-------- -------- -------- -------- --------
SUM: 51 1210 485 135918

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cloc github.com/AlDanial/cloc v 2.04 T=0.53 s (96.6 files/s, 260441.7 lines/s)
Language files blank comment code
JSON 3 8 0 129481
Python 17 780 385 4363
Markdown 5 187 6 529
C++ 4 60 38 409
CSS 1 58 0 342
Bourne Shell 16 42 9 281
Dockerfile 1 31 32 205
HTML 1 6 0 107
TOML 1 5 0 62
make 1 20 15 62
CMake 1 4 0 17
-------- -------- -------- -------- --------
SUM: 51 1201 485 135858

@xiaolefang-dm xiaolefang-dm changed the title Add opt-in FlexGlue ONNX matching for mapping and relocalization Add opt-in FlexGlue TensorRT matching for mapping and relocalization Nov 9, 2026
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cloc github.com/AlDanial/cloc v 2.04 T=0.43 s (125.4 files/s, 319750.0 lines/s)
Language files blank comment code
JSON 3 8 0 129481
Python 18 788 386 4449
Markdown 6 208 6 522
C++ 4 60 38 409
CSS 1 58 0 342
Bourne Shell 16 42 9 281
Dockerfile 1 31 32 205
HTML 1 6 0 107
make 1 25 15 72
TOML 1 4 0 59
CMake 1 4 0 17
Text 1 4 0 17
-------- -------- -------- -------- --------
SUM: 54 1238 486 135961

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cloc github.com/AlDanial/cloc v 2.04 T=0.47 s (111.9 files/s, 290460.0 lines/s)
Language files blank comment code
JSON 3 8 0 129481
Python 18 788 386 4449
Markdown 5 193 6 476
C++ 4 60 38 409
CSS 1 58 0 342
Bourne Shell 16 42 9 281
Dockerfile 1 31 32 205
HTML 1 6 0 107
make 1 25 15 72
TOML 1 4 0 59
CMake 1 4 0 17
Text 1 4 0 17
-------- -------- -------- -------- --------
SUM: 53 1223 486 135915

@xiaolefang-dm
xiaolefang-dm requested a review from dvorak0 November 9, 2026 12:21
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cloc github.com/AlDanial/cloc v 2.04 T=0.55 s (96.7 files/s, 251141.4 lines/s)
Language files blank comment code
JSON 3 8 0 129481
Python 18 789 386 4449
Markdown 5 193 6 476
C++ 4 60 38 409
CSS 1 58 0 342
Bourne Shell 16 42 9 281
Dockerfile 1 31 32 205
HTML 1 6 0 107
make 1 25 15 72
TOML 1 4 0 59
CMake 1 4 0 17
Text 1 4 0 17
-------- -------- -------- -------- --------
SUM: 53 1224 486 135915

@dvorak0
dvorak0 merged commit f00db5e into main Nov 9, 2026
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hitomi-krgr added a commit that referenced this pull request Nov 9, 2026
@hitomi-krgr
Merge upstream main: FlexGlue TensorRT matching (#260), the bag check (…
43aaa9a 
…#259), packed occupancy grids (#256)

planning_node: the fork keeps only the obstacle-mask publisher, now packed with
array('b') as upstream's are; the publishers upstream also changed (height map,
2D occupancy grid, the clouds, the velocity estimate) stay deleted.
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@xiaolefang-dm @dvorak0