void queryLineFrame(vector<Frame> &frames, LBDDatabase &db, int resultSize = 5) {
string filename = "queryLineResult.yml";
cv::FileStorage resultFS(filename.c_str(), cv::FileStorage::WRITE);
if(!resultFS.isOpened()) throw string("Could not open file ") + filename;
resultFS << "result" << "["; //result
for(size_t i = 0; i < frames.size(); ++i) {
resultFS<<"{";
resultFS << "queryImage" << "{";
resultFS << "frameID" << frames[i].getID();
resultFS << "frameName" << frames[i].getImageName();
resultFS << "framePose" << frames[i].getFramePose();
resultFS << "}"; //query image
QueryResults results;
db.query(frames[i].getLineFeatureDescs(), results, resultSize);
scaleSortedResult(results, results.back().Score, results.front().Score);
resultFS << "queryResults" << "[";
for(size_t j = 0; j < results.size(); ++j) {
int id = (int)results[j].Id;
double score = (double)results[j].Score;
vector<double> resultPose;
assert(db.getPose(id, resultPose));
resultFS << "{";
resultFS << "frameID" << id;
resultFS << "score" << score;
resultFS << "pose" << resultPose;
resultFS << "}";
}
resultFS << "]";
resultFS << "}";
}
resultFS << "]"; //result
resultFS.release();
}
acl::GroupID GetNewGroupID()
{
boost::lock_guard<boost::mutex> lock(getNewGroupIdMtx);
QueryResults results;
boost::unique_future<bool> future;
mongo::Query query;
query.sort("gid", 0);
TaskPtr task(new db::Select("groups", query, results, future, 1));
Pool::Queue(task);
future.wait();
if (results.size() == 0) return acl::GroupID(1);
int gid = results.back().getIntField("gid");
return acl::GroupID(++gid);
}