CN114422702B - Full-coverage area visualization method and device based on high-power heavy-load holder - Google Patents
Full-coverage area visualization method and device based on high-power heavy-load holder Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/95—Computational photography systems, e.g. light-field imaging systems
- H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
The invention provides a full-coverage area visualization method and device based on a high-power heavy-load holder, and belongs to the technical field of image processing and tracking. The method comprises the following steps: acquiring a plurality of regional image data acquired by a high-power heavy-load holder; inputting a plurality of regional image data into a processing channel through a plurality of input channels in parallel; and outputting a plurality of processing results corresponding to the plurality of regional image data output by the processing channels in parallel through the plurality of output channels, and simultaneously displaying the plurality of processing results on the visual interface. The apparatus includes a plurality of input devices in communication with a visualization device, a plurality of output devices, and a visualization device. The visualization device provides on its display screen a first option corresponding to the plurality of input devices and a second option corresponding to the plurality of output devices. The invention can realize the omnibearing multi-user covering type tracking processing of the monitoring data of the high-power heavy-load holder, has stronger parallelism and freedom degree and saves processing resources at the same time.
Description
Technical Field
The invention belongs to the technical field of image processing and tracking, and particularly relates to a full-coverage area visualization method and device based on a high-power heavy-load holder, computer equipment for realizing the method and a storage medium.
Background
The heavy-load pan-tilt can be essentially understood as a surveillance camera, an adjustable rotary pan-tilt and a pan-tilt body are configured on the basis of the surveillance camera, and a mounting frame for mounting the surveillance camera, a gravity center adjusting box and a gravity center adjusting mechanism located in the gravity center adjusting box are arranged at the bottom of the pan-tilt body. The gravity center adjusting mechanism can adjust the gravity center according to the installed monitoring cameras of different models, the adjustment is automatic and controllable, and the operation is simple and convenient; through the gravity center adjusting function of the gravity center adjusting mechanism, the operation of the rotating holder can be more stable, and the service life of the rotating holder can be prolonged. A heavy-duty pan-tilt camera is usually used to monitor a specific area. The large-range shooting monitoring is mainly realized through the rotation angle.
However, if 24-hour uninterrupted dead-angle-free monitoring is to be realized for a large-range key target area, especially for continuous full-coverage tracking of a possible abnormal target, only one heavy-load pan-tilt head is not enough.
Therefore, in order to solve the above technical problem, it is conceivable to employ a plurality of heavy-duty heads. However, the adoption of a plurality of heavy-load holders can increase the hardware arrangement cost, and meanwhile, the flexibility and the degree of freedom of multiple users cannot be realized, and the full-coverage tracking and the visual processing of multiple users and multiple areas cannot be realized.
Disclosure of Invention
In order to solve the technical problems, the invention provides a full-coverage area visualization method and device based on a high-power heavy-load holder, computer equipment for realizing the method and a storage medium.
In the first aspect of the invention, a full-coverage type area visualization method based on a high-power heavy-load holder is provided, the method can realize the omnibearing multi-user coverage type tracking processing of the monitoring data of the high-power heavy-load holder, has stronger parallelism and freedom, and saves processing resources at the same time.
The method comprises the following steps:
acquiring a plurality of regional image data acquired by the high-power heavy-load holder;
inputting the area image data into a processing channel through a plurality of input channels in parallel;
and outputting a plurality of processing results corresponding to the plurality of area image data output by the processing channels in parallel through a plurality of output channels, and simultaneously displaying the plurality of processing results on a visual interface.
The high-power heavy-load holder comprises a plurality of image acquisition devices with different resolutions, the image acquisition devices are sequentially arranged in a surrounding manner, and the difference between the resolutions of two adjacent image acquisition devices is large.
In a specific implementation, the resolution of two adjacent image acquisition devices differs by a factor of N, where N >10.
The inventor finds that in practical application, due to different resolutions of different image acquisition devices, different tracking input control commands and different output display control commands are required to correspond to different input channels and output channels, which is one of motivations for improvement of the technical scheme of the present invention. It will be appreciated that in other situations, for example where there are multiple image acquisition devices, but the quality (resolution) of the images acquired by the multiple image acquisition devices is the same or not very different, there is no need for multi-channel input control or multi-channel output display.
The technical problem of the present application is solved based on the above requirements, so as to obtain the above technical solution of the present application, and the method further comprises the following technical improvements:
in one aspect, selection of a plurality of input channels is provided;
based on the selection of a first user on a first input channel, automatically matching first area image data corresponding to the first input channel, and inputting the first area image data to the processing channel through the first input channel.
While on the other hand, selection of a plurality of output channels is provided;
and outputting a first processing result of the processing channel corresponding to the first area image data through the first output channel based on the selection of the first output channel by the first user.
As a further improvement, the above method of the present invention supports multi-user parallel processing and tracking display, and therefore, the above method further comprises:
providing a first option for a plurality of input channels and a second option for a plurality of output channels;
and simultaneously receiving a plurality of input channels selected by the user based on the first option and output channels selected based on the second option.
At the moment, providing a first option of the plurality of input channels and a second option of the plurality of output channels on the visual interface, and selecting different input channels for a plurality of users based on the first option and selecting different output channels based on the second option;
wherein, the input channel and the output channel selected by the same user are mutually related channels.
Structurally, the visualization interface is physically separated from the plurality of input channels and the plurality of output channels.
Physically separated means that there is no actual physical connection relationship between the two, but they are spatially separated from each other, but there may be a communication or data connection relationship between the two, and therefore, it can be understood that the two adopt a wireless communication mode, including a remote wireless communication technology and a near field wireless communication technology, thereby ensuring flexibility in actual arrangement of the plurality of input channels and the plurality of output channels.
As one of the application objects of the present invention, the processing channel includes a target tracking processing model;
and the target tracking processing model is used for positioning and tracking a target set in the regional image data.
In order to realize the method for visualizing the fully-covered area based on the high-power heavy-duty holder in the first aspect, in the second aspect of the present invention, a fully-covered area visualization device based on the high-power heavy-duty holder is provided, and the high-power heavy-duty holder includes a plurality of image capturing devices with different resolutions.
In a specific structure, the device further comprises a plurality of input devices, a plurality of output devices and a visualization device;
the plurality of input devices, the plurality of output devices each being in communication with the visualization device;
the high-power heavy-load holder obtains a plurality of regional image data with different multi-component resolutions through a multi-resolution image acquisition device;
the visualization device providing on its display screen a first option corresponding to the plurality of input devices and a second option corresponding to a plurality of output devices;
determining at least one target input device from the plurality of input devices in response to selection of the first option;
in response to selection of the second option, determining at least one target output device from the plurality of output devices;
and selecting at least one region image data from the plurality of region image data through the target input device as the input of the visualization device, and outputting the processing result of the region image data by the visualization device through a target output device which is an associated device with the target input device.
Further, as a presentation of an intermediate process executed by the apparatus, on the visual interface, different target input devices are selected for a plurality of users based on a first option and different target output devices are selected based on a second option;
the target input device and the target output device selected by the same user are mutually associated channels.
The device can realize the omnibearing multi-user covering type tracking processing of the monitoring data of the high-power heavy-load holder, has stronger parallelism and freedom degree, and saves processing resources at the same time, wherein the high-power heavy-load holder comprises a plurality of image acquisition devices with different resolutions, the image acquisition devices are arranged in a surrounding way in sequence, the resolution difference of the two adjacent image acquisition devices is N times, N is more than 10, and N is an integer.
The technical scheme of the invention can be automatically realized by computer equipment based on computer program instructions.
Therefore, in a third aspect of the present invention, the present invention can be implemented as a computer medium, on which computer program instructions are stored, and by executing the program instructions, the full-coverage area visualization method based on the high-power heavy-load pan/tilt head according to the first aspect is implemented.
Similarly, in the fourth aspect of the present invention, the present invention can also be embodied as a computer program product, which is loaded into a computer storage medium and executed by a processor, so as to implement all or part of the steps of the above-mentioned full-coverage area visualization method based on a high-power heavy-duty pan/tilt head.
According to the technical scheme, aiming at different area image data with different resolutions of a plurality of different areas generated by a high-power heavy-load holder comprising a plurality of image acquisition devices with larger resolution difference, the invention provides a plurality of input channels and a plurality of output channels, and different input channels can respectively carry out input control and output display control on different area images with different resolutions based on the selection of a user, so that the requirements of a plurality of users on different tracking input control instructions and different output display control instructions are met; meanwhile, a plurality of different input channels and different output channels share the same processing channel, and the processing channel does not need to be configured for each user or input channel independently, so that hardware resources are saved.
Further advantages of the invention will be apparent in the detailed description section in conjunction with the drawings attached hereto.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic main flow chart of a full-coverage area visualization method based on a high-power heavy-duty pan/tilt head according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of options provided by a visualization device implementing the method of FIG. 1;
FIG. 3 is a schematic diagram of a further preferred embodiment of the method of FIG. 1;
FIG. 4 is a schematic diagram of a fully-covered area visualization device based on a high-power heavy-duty pan/tilt head for implementing the method of FIG. 1 or FIG. 3;
fig. 5 is a schematic diagram of a computer device, a storage medium, and a computer program implementing the method of fig. 1.
Detailed Description
The invention is further described with reference to the following drawings and detailed description.
Before describing each embodiment of the present invention, an application scenario in which the technical solution of the present invention is located is first described, and a technical problem to be solved by the present application is introduced for the application scenario, so that the improvement motivation of the present application and the creativity of the corresponding technical solution are better understood.
As described in the background, if 24-hour uninterrupted dead-angle-free monitoring is to be realized for a large-range key target area, especially for continuous full-coverage tracking of an abnormal target that may occur, only one heavy-load pan-tilt head is not enough.
Therefore, in order to solve the above technical problem, it is conceivable to employ a plurality of heavy-duty heads. However, the adoption of multiple heavy-duty holders increases the hardware arrangement cost, each heavy-duty holder needs a separate input control and output display channel, different block areas of a key target area are generally under the charge of different specially-assigned persons, different specially-assigned persons are respectively configured with terminal devices (such as displays with different resolution levels) with different parameter levels according to different authorities and levels, and the specially-assigned persons respectively have the requirement of calling the data of the heavy-duty holders for input and output control, so that the hardware arrangement cost is further increased, and meanwhile, the flexibility and the degree of freedom of multiple users cannot be realized.
In order to solve the technical problem, in the technical scheme of the invention, the high-power heavy-load holder comprises a plurality of image acquisition devices with different resolutions, the image acquisition devices are sequentially arranged in a surrounding manner, and the resolution difference between two adjacent image acquisition devices is larger.
The image acquisition devices which are arranged in a surrounding mode and have larger adjacent resolution are adopted, so that the users are not required to provide tracking pictures with different resolutions when tracking different users, and specific targets needing to be tracked are selected. At least 1/3 of the resolution hardware cost is saved compared to an arrangement with uniform resolution (usually larger resolution).
Preferably, the difference between the resolutions of the two adjacent image capturing devices is large, specifically, the difference between the resolutions of the two adjacent image capturing devices is N times, and N is greater than or equal to 10.
In the following embodiments, it is assumed that the high-power heavy-duty pan/tilt head includes K image capturing devices M1, M2, M3 … … MK with different resolutions, and the corresponding resolutions are M in turn 1 、m 2 、……m k ；
The resolution difference of two adjacent image acquisition devices is N times, which is expressed as follows: the resolution of the latter image acquisition device is N times of that of the former image acquisition device, and the resolution is sequentially increased;
the resolution difference of two adjacent image acquisition devices is N times, which is expressed as follows: the resolution of the first image acquisition device is 1/N times that of the second image acquisition device; the resolution of the second image acquisition device is N times that of the third image acquisition device, and the steps are repeated in sequence, namely the resolution of the image acquisition device at the even position is N times that of the image acquisition device at the odd position.
In practical applications, as a more preferred embodiment, the K image capturing devices with different resolutions include at least one image capturing device with hundred million pixels, such as a light field camera array.
The arrangement with different resolutions forms the high-power heavy-load cradle head. "high power" in the present invention means at least three layers: high resolution, high disparity ratio, and multi-level resolution.
On the basis, different area image data corresponding to the K image acquisition devices M1, M2 and M3 … … MK with different resolutions are Img1, img2 and … … ImgK, and meanwhile, different area image data contain different numbers and different types of target objects, and it is assumed that the K-th area image data contains n target objects.
Next, different embodiments of the present application are described.
Referring to fig. 1, fig. 1 is a main flowchart of a full-coverage area visualization method based on a high-power heavy-load pan/tilt head according to an embodiment of the present invention.
Fig. 1 shows that the main flow of the method comprises the following steps:
s1: acquiring a plurality of regional image data acquired by the high-power heavy-load holder;
s2: inputting the area image data into a processing channel through a plurality of input channels in parallel;
s3: and outputting a plurality of processing results corresponding to the plurality of area image data output by the processing channels in parallel through a plurality of output channels, and simultaneously displaying the plurality of processing results on a visual interface.
Described as a more specific embodiment, the step S1 includes:
acquiring a plurality of regional image data which are acquired by a plurality of image acquisition devices with different resolutions of the high-power heavy-load holder and contain different target objects;
on this basis, a plurality of different users in the target area are respectively responsible for image monitoring or target tracking in different areas, and the tracking and monitoring accuracy requirements are different, so that different input and output requirements exist for image processing in different areas, and at this time, different input channels and different output channels of different users need to be provided.
Each user inputs a region image data selection command based on the selected input channel and displays the processing result of the selected region image through the selected output channel.
As an example, the first user requests to select a selection command input through the first keyboard for selecting the region image data of the first resolution of the first sub-region as the monitoring and tracking object;
it will be appreciated that the region image data of the first resolution of the first sub-region may be acquired by the first image capturing device of the first resolution, and thus the first user may in fact select the corresponding first image capturing device as the control input source for the input channel;
furthermore, the first user can input a target object tracking requirement and an image precision requirement through the first keyboard, based on the target tracking requirement and the image precision requirement, the system automatically matches corresponding regional image data, and at least one image acquisition device corresponding to the regional image data is used as a control input source of the input channel.
As a specific implementation, on the basis of fig. 1, see fig. 2.
Providing a first option of a plurality of input channels and a second option of a plurality of output channels on the visual interface, selecting different input channels for a plurality of users based on the first option and selecting different output channels based on the second option.
Thus, a further preferred embodiment comprises:
providing a first option for a plurality of input channels and a second option for a plurality of output channels;
for example, in fig. 2, the display input channel includes input device 1, input device 2, … … input device N, and the output channel includes display device 1, display device 2, … … display device N.
By way of example, the input device may be a keyboard, mouse, touch input device, voice input device, etc., and the output channel device may be a display, touch display screen, etc.
In fig. 2, a plurality of input channels selected by the user based on the first option and output channels selected based on the second option may be simultaneously received.
In various embodiments of the present invention, the "first user" refers to any one of a plurality of users, and does not refer to a specific user.
Accordingly, an input channel selected by the first user based on the first option and an output channel selected based on the second option may be received.
Fig. 3 further shows a specific embodiment of the method:
s31: a first option of a plurality of input channels and a second option of a plurality of output channels;
s32: automatically matching first area image data corresponding to a first input channel based on the selection of the first input channel by a first user;
s33: and inputting the first area image data to the processing channel through the first input channel.
The processing channel comprises a target tracking processing model;
and the target tracking processing model is used for positioning and tracking a target set in the regional image data.
S34: and outputting a first processing result of the processing channel corresponding to the first area image data through the first output channel based on the selection of the first output channel by the first user.
Preferably, the input channel and the output channel selected by the same user are associated channels. Taking the first user selecting the first input channel and the first output channel as an example, the first input channel and the first output channel are associated channels.
To implement the method described in fig. 1-3, fig. 4 shows a schematic diagram of a fully-covered area visualization device based on a high-power heavy-duty pan/tilt head.
In fig. 4, a full-coverage area visualization device based on a high-power heavy-duty pan/tilt head is provided, where the high-power heavy-duty pan/tilt head includes a plurality of image capturing devices with different resolutions.
Specifically, the high-power heavy-load holder comprises a plurality of image acquisition devices with different resolutions, the image acquisition devices are sequentially arranged in a surrounding manner, the resolution difference of two adjacent image acquisition devices is N times, N is more than 10, and N is an integer.
The apparatus further comprises a plurality of input devices, a plurality of output devices, and a visualization device;
the plurality of input devices, the plurality of output devices each being in communication with the visualization device;
the high-power heavy-load holder obtains a plurality of regional image data with different multi-component resolutions through a multi-resolution image acquisition device;
the visualization device providing on its display screen a first option corresponding to the plurality of input devices and a second option corresponding to a plurality of output devices;
determining at least one target input device from the plurality of input devices in response to selection of the first option;
in response to selection of the second option, determining at least one target output device from the plurality of output devices;
and selecting at least one area image data from the plurality of area image data through the target input device as the input of the visualization device, and outputting the processing result of the area image data by the visualization device through a target output device which is an associated device with the target input device.
In a specific practice process, different target input devices can be selected for a plurality of users on the visual interface based on a first option and different target output devices can be selected based on a second option; the target input device and the target output device selected by the same user are mutually associated channels.
As one of the most common examples, each of the output devices in FIG. 4 may be a display and each of the input devices may be a keyboard input device. That is, each user is configured with corresponding input device and output device, and the display resolution of the display device of each user is different, so that when each user monitors, the resolution of the image data of interest and the resolution of the image data that can be displayed are different.
However, in various embodiments of the present invention, the multiple input devices and the multiple output devices are process models-object tracking process models that share the same processing channel, and acquire data from the same data source.
The actual sharing mode comprises time sharing or segmentation sharing, so that the model utilization rate can be greatly improved, and the hardware cost is reduced.
Preferably, the processing channel is an image processing terminal, the image processing terminal includes a plurality of image tracking processing APPs, a first user may use the first APP as the processing channel, and a second user may use the second APP as the processing channel, so that one terminal device may be shared to meet the requirements of different users in parallel, thereby saving the cost of the terminal, and not having to configure a terminal for each user separately.
As a general background visualization device, all data that the user is monitoring and tracking can be managed centrally to ensure responsibility safety. Therefore, as a last improvement point of the present embodiment, the plurality of processing results are displayed simultaneously on the visualization interface.
The technical scheme of the invention can be automatically realized by computer equipment based on computer program instructions. Similarly, the present invention can also be embodied as a computer program product, which is loaded on a computer storage medium and executed by a processor to implement the above technical solution.
In particular, referring to fig. 5, further embodiments include a computer device comprising a memory storing a computer executable program and a processor configured to perform the steps of the above method.
According to the technical scheme, aiming at different regional image data with different resolutions of a plurality of different regions generated by a high-power heavy-load holder comprising a plurality of image acquisition devices with larger resolution difference, the invention provides a plurality of input channels and a plurality of output channels, and based on the selection of a user, different input channels can respectively carry out input control and output display control on different regional images with different resolutions, so that the requirements of a plurality of users on different tracking input control instructions and different output display control instructions are met; meanwhile, a plurality of different input channels and different output channels share the same processing channel, and a processing channel or terminal equipment does not need to be configured for each user or input channel independently, so that hardware resources are saved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
The present invention is not limited to the specific module structure described in the prior art. The prior art mentioned in the background section can be used as part of the invention to understand the meaning of some technical features or parameters. The scope of the present invention is defined by the claims.
Claims (8)
1. A full-coverage area visualization method based on a high-power heavy-load holder is characterized in that,
the method comprises the following steps:
acquiring a plurality of regional image data acquired by the high-power heavy-load holder;
providing a first option for a plurality of input channels and a second option for a plurality of output channels;
simultaneously receiving an input channel selected based on the first option and an output channel selected based on the second option;
inputting the area image data into a processing channel through a plurality of input channels in parallel;
outputting a plurality of processing results corresponding to the plurality of area image data output by the processing channels in parallel through a plurality of output channels, and simultaneously displaying the plurality of processing results on a visual interface;
the visual interface is physically separated from the plurality of input channels and the plurality of output channels;
providing a first option of the plurality of input channels and a second option of a plurality of output channels on the visual interface, selecting different input channels for a plurality of users based on the first option and selecting different output channels based on the second option;
the high-power heavy-load holder comprises a plurality of image acquisition devices with different resolutions, the image acquisition devices with different resolutions are sequentially arranged in a surrounding manner, the resolution difference of two adjacent image acquisition devices is N times, and N is more than 10; the input channel and the output channel selected for the same user are mutually related channels;
the plurality of input channels comprise a keyboard, a mouse, touch input equipment and voice input equipment;
the plurality of output channels includes a display.
2. The method for visualizing the fully covered area based on the high-power heavy-duty pan/tilt head as claimed in claim 1, wherein the method further comprises:
based on the selection of a first user on a first input channel, automatically matching first area image data corresponding to the first input channel, and inputting the first area image data to the processing channel through the first input channel.
3. The method for visualizing the fully covered area based on the high-power heavy-duty pan/tilt head as claimed in claim 1, wherein the method further comprises:
and outputting a first processing result of the processing channel corresponding to the first area image data through the first output channel based on the selection of the first output channel by the first user.
4. The full-coverage area visualization method based on the high-power heavy-load pan-tilt head as claimed in any one of claims 1 to 3, wherein:
the plurality of image capturing devices of different resolutions include at least one image capturing device of hundred million pixels.
5. The full-coverage area visualization method based on the high-power heavy-load pan-tilt head as claimed in any one of claims 1 to 3, wherein:
the processing channel comprises a target tracking processing model;
and the target tracking processing model is used for positioning and tracking a target set in the regional image data.
6. A full-coverage area visualization device based on a high-power heavy-load holder is disclosed, wherein the high-power heavy-load holder comprises a plurality of image acquisition devices with different resolutions, and the device is characterized by further comprising a plurality of input devices, a plurality of output devices and visualization devices;
the plurality of input devices, the plurality of output devices each being in communication with the visualization device;
the high-power heavy-load holder obtains a plurality of regional image data with different multi-component resolutions through a multi-resolution image acquisition device; the visualization device providing on its display screen a first option corresponding to the plurality of input devices and a second option corresponding to a plurality of output devices;
determining at least one target input device from the plurality of input devices in response to selection of the first option;
in response to selection of the second option, determining at least one target output device from the plurality of output devices;
selecting at least one region image data from the plurality of region image data through the target input device as an input of the visualization device, and outputting a processing result of the region image data by the visualization device through a target output device which is an associated device with the target input device;
selecting, on the visual interface, different target input devices based on the first option and different target output devices based on the second option for the plurality of users;
the target input device and the target output device selected by the same user are mutually associated channels.
7. The full-coverage area visualization device based on the high-power heavy-load pan/tilt head as claimed in claim 6, wherein: the high-power heavy-load holder comprises a plurality of image acquisition devices with different resolutions, the image acquisition devices with different resolutions are sequentially arranged in a surrounding manner, the resolution difference of two adjacent image acquisition devices is N times, N is more than 10, and N is an integer.
8. A computer storage medium comprising computer readable instructions which, when executed, implement the method of any of claims 1 to 5.
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