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MaybeShewill-CV · Nov 7, 2023 · 16b2d55 · 16b2d55
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diff --git a/src/apps/model_benchmark/feature_point/lightglue_benchmark.cpp b/src/apps/model_benchmark/feature_point/lightglue_benchmark.cpp
@@ -4,3 +4,102 @@
  * File: lightglue_benchmark.cpp
  * Date: 23-11-6
  ************************************************/
+
+// lightglue benckmark tool
+
+#include <glog/logging.h>
+#include <toml/toml.hpp>
+
+#include "common/cv_utils.h"
+#include "common/file_path_util.h"
+#include "common/time_stamp.h"
+#include "models/model_io_define.h"
+#include "models/feature_point/lightglue.h"
+
+using jinq::common::FilePathUtil;
+using jinq::common::Timestamp;
+using jinq::common::CvUtils;
+using jinq::models::io_define::common_io::pair_mat_input;
+using jinq::models::io_define::feature_point::matched_fp;
+using jinq::models::io_define::feature_point::std_feature_point_match_output;
+using jinq::models::feature_point::LightGlue;
+
+int main(int argc, char** argv) {
+
+    if (argc != 2 && argc != 4) {
+        LOG(ERROR) << "wrong usage";
+        LOG(INFO) << "exe config_file_path [test_image_path]";
+        return -1;
+    }
+
+    std::string cfg_file_path = argv[1];
+    LOG(INFO) << "config file path: " << cfg_file_path;
+
+    if (!FilePathUtil::is_file_exist(cfg_file_path)) {
+        LOG(INFO) << "config file: " << cfg_file_path << " not exist";
+        return -1;
+    }
+
+    std::string src_input_image_path;
+    std::string dst_input_image_path;
+    if (argc == 4) {
+        src_input_image_path = argv[2];
+        LOG(INFO) << "src input test image path: " << src_input_image_path;
+        dst_input_image_path = argv[3];
+        LOG(INFO) << "dst input test image path: " << dst_input_image_path;
+    } else {
+        src_input_image_path = "../demo_data/model_test_input/feature_point/match_test_01.jpg";
+        LOG(INFO) << "use default src input test image path: " << src_input_image_path;
+        dst_input_image_path = "../demo_data/model_test_input/feature_point/match_test_02.jpg";
+        LOG(INFO) << "use default dst input test image path: " << dst_input_image_path;
+    }
+
+    if (!FilePathUtil::is_file_exist(src_input_image_path)) {
+        LOG(INFO) << "test src input image file: " << src_input_image_path << " not exist";
+        return -1;
+    }
+    if (!FilePathUtil::is_file_exist(dst_input_image_path)) {
+        LOG(INFO) << "test dst input image file: " << dst_input_image_path << " not exist";
+        return -1;
+    }
+
+    // construct model input
+    cv::Mat src_input_image = cv::imread(src_input_image_path, cv::IMREAD_COLOR);
+    cv::Mat dst_input_image = cv::imread(dst_input_image_path, cv::IMREAD_COLOR);
+    struct pair_mat_input model_input{src_input_image, dst_input_image};
+
+    // construct extractor
+    auto matcher = std::make_unique<LightGlue<pair_mat_input, std_feature_point_match_output >>();
+    auto cfg = toml::parse(cfg_file_path);
+    matcher->init(cfg);
+    if (!matcher->is_successfully_initialized()) {
+        LOG(INFO) << "lightglue matcher init failed";
+        return -1;
+    }
+
+    // run matcher
+    std_feature_point_match_output model_output;
+    int loop_times = 100;
+    LOG(INFO) << "src input test image size: " << src_input_image.size();
+    LOG(INFO) << "dst input test image size: " << dst_input_image.size();
+    LOG(INFO) << "matcher run loop times: " << loop_times;
+    LOG(INFO) << "start lightglue benchmark at: " << Timestamp::now().to_format_str();
+    auto ts = Timestamp::now();
+    for (int i = 0; i < loop_times; ++i) {
+        matcher->run(model_input, model_output);
+    }
+    auto cost_time = Timestamp::now() - ts;
+    LOG(INFO) << "benchmark ends at: " << Timestamp::now().to_format_str();
+    LOG(INFO) << "cost time: " << cost_time << "s, fps: " << loop_times / cost_time;
+
+    // vis match result
+    cv::Mat vis_result;
+    CvUtils::visualize_fp_match_result(src_input_image, dst_input_image, model_output, vis_result);
+    std::string output_file_name = FilePathUtil::get_file_name(src_input_image_path);
+    output_file_name = output_file_name.substr(0, output_file_name.find_last_of('.')) + "_lightglue_result.png";
+    std::string output_path = FilePathUtil::concat_path("../demo_data/model_test_input/feature_point", output_file_name);
+    cv::imwrite(output_path, vis_result);
+    LOG(INFO) << "feature point match result image has been written into: " << output_path;
+
+    return 0;
+}