CN108270978B - Image processing method and device - Google Patents
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- CN108270978B CN108270978B CN201611262934.8A CN201611262934A CN108270978B CN 108270978 B CN108270978 B CN 108270978B CN 201611262934 A CN201611262934 A CN 201611262934A CN 108270978 B CN108270978 B CN 108270978B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/272—Means for inserting a foreground image in a background image, i.e. inlay, outlay
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
Abstract
The embodiment of the invention provides an image processing method, which relates to the technical field of digital images. The method solves the technical problems that in the prior art, shooting and image processing are required to be carried out in two steps, and the synthesis of a foreground and a background frame by frame is required for post-image processing, so that the method is low in automation degree, over-strong in specialty and low in working efficiency.
Description
Technical Field
The present invention relates to the field of digital image technologies, and in particular, to an image processing method and apparatus.
Background
Today's "diversification" of digital imagery is due to its unique multimedia, cross-media presentation, and artistic style diversity and personalization exhibited by digital imagers. Today's three-dimensional computer imaging and animation technology provides a great deal of wonderful skills that were unthinkable ten years ago, even several years ago, and also opens up a wider expression space for today's digital imaging home.
In the prior art, image processing means are basically finished by editing of later-stage professionals, and the video later-stage editing and splicing technology can realize the covering and splicing effect of two or more videos in blocks or areas on the same screen.
However, in the process of implementing the technical solution of the invention in the embodiment of the present application, the inventor of the present application finds that the above prior art has at least the following technical problems:
because shooting and image processing need to be divided into two steps to carry out in the prior art, and the later image processing needs later image processing workers to synthesize a foreground and a background frame by frame, the technical problems of low automation degree, over-strong specialty and low working efficiency exist.
Disclosure of Invention
The embodiment of the invention provides an image processing method and device, which are used for solving the technical problem that image processing cannot be efficiently and conveniently completed in the process of post-image processing in the prior art.
In a first aspect, the present invention provides an image processing method applied to a first electronic device, the first electronic device being configured with a depth sensor, the method comprising: obtaining, by the depth sensor, a first image at a first distance; obtaining a first foreground image and a first background image of the first image; obtaining a second background image, the second background image being different from the first background image; and synthesizing the first foreground image and the second background image to form a second image.
Preferably, the obtaining the second background image further includes: obtaining a second image at a second distance from the depth sensor, wherein the second distance is greater than the first distance; obtaining a third background image of the second image; determining the third background image as the second background image.
Preferably, the obtaining the second background image further includes: obtaining a fourth background image, wherein the fourth background image is a preset background image; determining the fourth background image as the second background image.
Preferably, the obtaining the second background image further includes: acquiring a fifth background image, wherein the fifth background image is acquired by a second electronic device connected with the first electronic device; determining the fifth background image as the second background image.
Preferably, before the obtaining of the first image at the first distance by the depth sensor, the method further comprises: obtaining a third image; obtaining a face image in the third image; and determining that the third distance is the first distance according to a third distance between the face image and the first electronic equipment.
Preferably, the synthesizing the first foreground image and the second background image further includes: zooming the second background image to obtain a sixth background image; and synthesizing the first foreground image and the sixth background image.
Preferably, after the second background image is scaled to obtain a sixth background image, the method further includes: and setting the first foreground image at a non-central position of the sixth background image.
In another aspect, the present invention further provides an image processing apparatus applied to a first electronic device, where the first electronic device is configured with a depth sensor, where the apparatus includes: a first obtaining unit for obtaining a first image at a first distance by the depth sensor; a second obtaining unit configured to obtain a first foreground image and a first background image of the first image; a third obtaining unit configured to obtain a second background image, which is different from the first background image; a first synthesizing unit, configured to synthesize the first foreground image and the second background image to form a second image.
Preferably, the obtaining the second background image further includes: a fourth obtaining unit configured to obtain a second image at a second distance from the depth sensor, wherein the second distance is greater than the first distance; a fifth obtaining unit configured to obtain a third background image of the second image; a first determination unit configured to determine the third background image as the second background image.
Preferably, the obtaining the second background image further includes: a sixth obtaining unit, configured to obtain a fourth background image, where the fourth background image is a preset background image; a second determination unit configured to determine the fourth background image as the second background image.
Preferably, the obtaining the second background image further includes: a seventh obtaining unit, configured to obtain a fifth background image, where the fifth background image is obtained by a second electronic device connected to the first electronic device; a third determination unit configured to determine the fifth background image as the second background image.
Preferably, before the obtaining of the first image at the first distance by the depth sensor, the apparatus further comprises: an eighth obtaining unit, configured to obtain a third image, and a ninth obtaining unit, configured to obtain a face image in the third image; a fourth determining unit, configured to determine, according to a third distance between the face image and the first electronic device, that the third distance is the first distance.
Preferably, the synthesizing the first foreground image and the second background image further includes: a tenth obtaining unit, configured to scale the second background image to obtain a sixth background image; a second synthesizing unit configured to synthesize the first foreground image and the sixth background image.
Preferably, after the second background image is scaled to obtain a sixth background image, the method further includes: a first setting unit configured to set the first foreground image in a non-central position of the sixth background image.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
1. in the embodiment of the invention, a first image at a first distance is obtained through the depth sensor, then a first foreground image and a first background image of the first image are obtained, then a second background image is obtained, the second background image is different from the first background image, and finally the first foreground image and the second background image are synthesized to form a second image. According to the technical scheme, the technical problems of low automation degree, over-strong specialty and low working efficiency in the prior art are solved, the technical effect of real-time image synthesis of the foreground and the background is achieved, and the working efficiency and the automation degree of image processing are greatly improved.
2. According to the technical means, the second image at the second distance is obtained according to the depth sensor, then the third background image of the second image is obtained, and finally the third background image is determined to be the second background image. The technical problem that an ideal shooting effect cannot be obtained in real time in the prior art is solved, and the technical effect that the shooting background can be selected at will according to personal requirements is achieved.
3. According to the technical means for acquiring the fourth background image, wherein the fourth background image is a preset background image, and the fourth background image is determined as the second background image, the technical problems that in the prior art, when a specific background image is acquired, post-production is needed, time consumption is long, and manpower is wasted are solved, and the technical effect that an image with a specific background can be shot in a non-specific scene is achieved.
4. According to the technical means of obtaining the fifth background image, the fifth background image is obtained for the second electronic device connected with the first electronic device, and then the fifth background image is determined as the second background image, so that the technical problem that two playing pictures cannot be synthesized in one picture in real time in the prior art is solved, and the technical effect that a viewer can see that two playing interfaces are synchronously played in one picture in real time is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flowchart of an image processing method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an image processing apparatus according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an image processing method and device, which are used for solving the technical problem that image processing cannot be efficiently and conveniently completed in the process of post-image processing in the prior art. In order to solve the technical problems, the invention provides the following ideas:
in the embodiment of the invention, a first image at a first distance is obtained through the depth sensor, then a first foreground image and a first background image of the first image are obtained, then a second background image is obtained, the second background image is different from the first background image, and finally the first foreground image and the second background image are synthesized to form a second image. The technical effect of real-time image synthesis of the foreground and the background is achieved, and the working efficiency and the automation degree of image processing are greatly improved.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features of the embodiments and the embodiments of the present invention are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features of the embodiments and the embodiments of the present application may be combined with each other without conflict.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Example one
In a first aspect, the present invention provides an image processing method applied to a first electronic device, where the first electronic device is configured with a depth sensor, please refer to fig. 1, where the method includes:
the first electronic device may be a 3D imaging system. The first electronic device includes a depth sensor, through which video information with distance information can be collected, and 3D modeling can be performed on a shooting scene, such as an Intel real sense3D camera, and the first electronic device is applied to a robot with a mobile system. The present application takes an Intel RealSense3D camera as an example for explanation, and does not specifically limit the first electronic device.
Step S110, obtaining a first image at a first distance through the depth sensor;
specifically, the depth sensor may collect image information within a predetermined distance, and not collect information outside the predetermined distance. The first distance is the distance between the camera and the shot object, and the first image is the image of the shot object acquired by the camera.
Step S120, obtaining a first foreground image and a first background image of the first image;
specifically, the foreground image refers to a scene or a person in front of the subject and close to the camera in the picture, and shows a certain spatial relationship or a certain person relationship. The background image refers to a scene which is behind the subject and far away from the camera, and is an important part of the environment. For example, when traveling, a person stands in front of a building and is a foreground image, and the building behind the person is a background image.
Step S130, obtaining a second background image, wherein the second background image is different from the first background image;
specifically, when the camera captures a person or a scene, the background image in the directly captured picture is the first background image, and the second background is different from the first background image, and may be another background image, for example, a background image preset in the system, an image derived from another electronic device, or a background image at a different distance in the camera lens.
Step S140, the first foreground image and the second background image are synthesized to form a second image.
Specifically, the second image is a new image formed by image synthesis, and the background of the second image is different from that of the first image. This step of this application is equivalent to shoot among the prior art and finishes the back, and later stage image processing stage, for example image clip utilizes photoshop software to handle the image to form new image, and the synthetic process of this application is automatic, and is real-time, has saved operating time, has improved degree of automation.
Further, prior to the obtaining, by the depth sensor, the first image at the first distance, the method further comprises: and obtaining a third image, obtaining a face image in the third image, and determining that the third distance is the first distance according to a third distance between the face image and the first electronic device.
Specifically, the third image is an image with a person, when a robot with an Intel real sense3D camera detects through an infrared sensor, when a person is detected in a lens, image acquisition is performed, the acquired image is the third image, then a face image in the third image is identified, the third distance is a distance between the face image and the first electronic device, and therefore the third distance is determined to be the first distance. That is to say, the distance between the robot and the person can be obtained in real time through the infrared sensor in the embodiment of the application, different first images can be obtained according to the distance, and then the first foreground image and the first background image under different distances can be obtained, so that the working mode that the foreground and the background can be dynamically adjusted is realized. Specifically, in the process of changing the relative distance between the robot or the person, the infrared sensor is used for obtaining the distance between different robots and people, further obtaining different first foreground images and different first background images, and further combining the different foreground images and the different first background images into different images.
Example two
The image processing method can be applied to a photographing scene, a real scene is used as the second background image, and the real scene and the first foreground image are synthesized. The method further comprises the following steps:
obtaining a second image at a second distance according to the depth sensor, wherein the second distance is greater than the first distance, obtaining a third background image of the second image, and determining the third background image as the second background image.
For example, when people go out to play, a visitor wants to take a picture in front of a certain building, but because the building is far away from the visitor, an obstacle exists between the building and the visitor. In this case, the distance between the camera and the guest is the first distance, the image of the guest is the first foreground image, the distance between the camera and the obstacle is the second distance, the image of the obstacle is the second image, and the image of the building is the third background image of the second image. And obtaining the second image according to the depth sensor of the first electronic device, then obtaining a third background image of the second image, and finally determining the third background image as a second background image synthesized with the first foreground image, namely synthesizing the building as the second background image with the visitor as the first foreground image, wherein the formed picture is the second image. Therefore, real-time synthesis is achieved, the picture shot on site can achieve the ideal effect, and the complexity of post-production is saved.
EXAMPLE III
The image processing method can also be applied to a scene for shooting a preset background, and the first foreground image and the preset background image are synthesized, and the method further comprises the following steps: obtaining a fourth background image, wherein the fourth background image is a preset background image, and the fourth background image is determined as the second background image.
For example, when people need to take photos, the people can shoot the photos before the people locate at any background, and when the people take the photos, only the first foreground image of the people face needs to be obtained, and then the photos are synthesized with the preset background image, namely the fourth background image, for example, the photos with blue background, white background and red background need to be obtained, and only the first foreground image needs to be respectively synthesized with the preset background images with different colors, so that the time is greatly saved, and the effect of taking the photos and using the photos immediately is achieved. The preset background image is not limited to the identification photo shooting, but may be various scenes, such as scenery, buildings, and the like, and the embodiment of the present application is not particularly limited.
Example four
The image processing method can also be applied to scenes such as live game, video teaching and the like, and can be used for synthesizing a game interface and a character in real time or synthesizing courseware and a lecturer in real time.
The method further comprises the following steps: and obtaining a fifth background image, wherein the fifth background image is obtained for a second electronic device connected with the first electronic device, and the fifth background image is determined as the second background image.
Specifically, in a scene of live game or video teaching, a game interface or a courseware interface is displayed on the second electronic device, where the second electronic device may be displayed on a computer display screen, a mobile phone display screen, or a tablet computer display screen, and when a game or a teaching starts to be live broadcast or recorded, the first electronic device is connected to the second electronic device, so that the first electronic device can obtain an image displayed by the second electronic device, where the image displayed by the second electronic device is the fifth background image, and the fifth background image is determined as the second background image.
Further, the synthesizing the first foreground image and the second background image further includes: and zooming the second background image to obtain a sixth background image, and synthesizing the first foreground image and the sixth background image.
Specifically, the obtained first foreground image and the second background image are standard sizes, and based on consideration of composition and viewing convenience, the second background image is scaled to obtain a sixth background image, where the size of the sixth background image is a size suitable for being combined with the first foreground image, and a specific size is determined according to needs of a situation, which is not particularly limited in the embodiment of the present application, and then the sixth background image is combined with the first foreground image to form the second image.
Further, after the scaling the second background image to obtain a sixth background image, the method further includes: and setting the first foreground image at a non-central position of the sixth background image.
Specifically, when the sixth background image is synthesized with the first foreground image, in order to facilitate viewing of a game operation process or a completeness of a courseware, according to an actual situation, a face image, that is, the first foreground image may be placed at a lower left corner, a lower right corner, an upper left corner, an upper right corner of the sixth background image, or at a certain side of the sixth background image, and a specific position is not limited in the embodiment of the present application. Finally, the effect that the viewer can see the live broadcast player and the game operation interface simultaneously is achieved.
EXAMPLE five
The image processing method provided by the embodiment of the application is also suitable for a scene where a plurality of electronic devices are used in a matched mode. Specifically, the plurality of electronic devices include at least two electronic devices for photographing a foreground and one electronic device for photographing a background, where the plurality of electronic devices may perform information transmission therebetween. Based on the image processing method provided by the application, the at least two pieces of electronic equipment for shooting the foreground are used for respectively obtaining the first foreground image A and the second foreground image B, and the electronic equipment for shooting the background is used for obtaining the background image C, so that an image which takes the first foreground image A and the second foreground image B as foreground images and the background image C as background images can be obtained through the three pieces of electronic equipment. Further, in the above embodiment, the three electronic devices may be directed to the same target scene, but the three electronic devices may be located at different positions and angles, so that different image or video combination modes for the target scene may be implemented through mutual cooperation between the three devices, and a diversified image presentation or video playing mode meeting multiple requirements is implemented.
EXAMPLE six
The present embodiment further provides an image processing apparatus, please refer to fig. 2, the apparatus includes:
a first obtaining unit 11, the first obtaining unit 11 being configured to obtain a first image at a first distance by the depth sensor;
a second obtaining unit 12, where the second obtaining unit 12 is configured to obtain a first foreground image and a first background image of the first image;
a third obtaining unit 13, where the third obtaining unit 13 is configured to obtain a second background image, where the second background image is different from the first background image;
a first synthesizing unit 14, wherein the first synthesizing unit 14 is configured to synthesize the first foreground image and the second background image to form a second image.
Further, the apparatus further comprises:
a fourth obtaining unit configured to obtain a second image at a second distance from the depth sensor, wherein the second distance is greater than the first distance;
a fifth obtaining unit configured to obtain a third background image of the second image;
a first determination unit configured to determine the third background image as the second background image.
Further, the apparatus further comprises:
a sixth obtaining unit, configured to obtain a fourth background image, where the fourth background image is a preset background image;
a second determination unit configured to determine the fourth background image as the second background image.
Further, the apparatus further comprises:
a seventh obtaining unit, configured to obtain a fifth background image, where the fifth background image is obtained by a second electronic device connected to the first electronic device;
a third determination unit configured to determine the fifth background image as the second background image.
Further, the apparatus further comprises:
an eighth obtaining unit configured to obtain a third image;
a ninth obtaining unit, configured to obtain a face image in the third image;
a fourth determining unit, configured to determine, according to a third distance between the face image and the first electronic device, that the third distance is the first distance.
Further, the apparatus further comprises:
a tenth obtaining unit, configured to scale the second background image to obtain a sixth background image;
a second synthesizing unit configured to synthesize the first foreground image and the sixth background image.
Further, the apparatus further comprises:
a first setting unit configured to set the first foreground image in a non-central position of the sixth background image.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
1. in the embodiment of the invention, a first image at a first distance is obtained through the depth sensor, then a first foreground image and a first background image of the first image are obtained, then a second background image is obtained, the second background image is different from the first background image, and finally the first foreground image and the second background image are synthesized to form a second image. According to the technical scheme, the technical problems of low automation degree, over-strong specialty and low working efficiency in the prior art are solved, the technical effect of real-time image synthesis of the foreground and the background is achieved, and the working efficiency and the automation degree of image processing are greatly improved.
2. According to the technical means, the second image at the second distance is obtained according to the depth sensor, then the third background image of the second image is obtained, and finally the third background image is determined to be the second background image. The technical problem that an ideal shooting effect cannot be obtained in real time in the prior art is solved, and the technical effect that the shooting background can be selected at will according to personal requirements is achieved.
3. According to the technical means for acquiring the fourth background image, wherein the fourth background image is a preset background image, and the fourth background image is determined as the second background image, the technical problems that in the prior art, when a specific background image is acquired, post-production is needed, time consumption is long, and manpower is wasted are solved, and the technical effect that an image with a specific background can be shot in a non-specific scene is achieved.
4. According to the technical means of obtaining the fifth background image, the fifth background image is obtained for the second electronic device connected with the first electronic device, and then the fifth background image is determined as the second background image, so that the technical problem that two playing pictures cannot be synthesized in one picture in real time in the prior art is solved, and the technical effect that a viewer can see that two playing interfaces are synchronously played in one picture in real time is achieved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. An image processing method is applied to a first electronic device, and the first electronic device is provided with a depth sensor, wherein the method comprises the following steps:
obtaining, by the depth sensor, a first image at a first distance;
obtaining a first foreground image and a first background image of the first image;
obtaining a second background image, the second background image being different from the first background image;
synthesizing the first foreground image and the second background image to form a second image; wherein the content of the first and second substances,
prior to the obtaining, by the depth sensor, a first image at a first distance, the method further comprises:
obtaining a third image;
obtaining a face image in the third image;
determining a third distance between the face image and the first electronic device as the first distance according to the third distance;
the obtaining a second background image includes:
obtaining a second image at a second distance from the depth sensor; the second distance is greater than the first distance; obtaining a third background image of the second image; determining the third background image as the second background image; alternatively, the first and second electrodes may be,
obtaining a fourth background image; the fourth background image is a preset background image; determining the fourth background image as the second background image; alternatively, the first and second electrodes may be,
obtaining a fifth background image, wherein the fifth background image is a background image obtained by a second electronic device connected with the first electronic device; determining the fifth background image as the second background image.
2. The method of claim 1, wherein the combining the first foreground image and the second background image further comprises:
zooming the second background image to obtain a sixth background image;
and synthesizing the first foreground image and the sixth background image.
3. The method of claim 2, wherein after scaling the second background image to obtain a sixth background image, further comprising:
and setting the first foreground image at a non-central position of the sixth background image.
4. An image processing apparatus applied to a first electronic device provided with a depth sensor, wherein the apparatus comprises:
a first obtaining unit for obtaining a first image at a first distance by the depth sensor;
a second obtaining unit configured to obtain a first foreground image and a first background image of the first image;
a third obtaining unit configured to obtain a second background image, which is different from the first background image;
a first synthesizing unit, configured to synthesize the first foreground image and the second background image to form a second image; wherein the content of the first and second substances,
the device further comprises:
an eighth obtaining unit configured to obtain a third image;
a ninth obtaining unit, configured to obtain a face image in the third image;
a fourth determining unit, configured to determine, according to a third distance between the face image and the first electronic device, that the third distance is the first distance;
the third obtaining unit is specifically configured to:
obtaining a second image at a second distance from the depth sensor; the second distance is greater than the first distance; obtaining a third background image of the second image; determining the third background image as the second background image; alternatively, the first and second electrodes may be,
obtaining a fourth background image; the fourth background image is a preset background image; determining the fourth background image as the second background image; alternatively, the first and second electrodes may be,
obtaining a fifth background image, wherein the fifth background image is a background image obtained by a second electronic device connected with the first electronic device; determining the fifth background image as the second background image.
5. The apparatus of claim 4, wherein the apparatus further comprises:
a tenth obtaining unit, configured to scale the second background image to obtain a sixth background image;
a second synthesizing unit configured to synthesize the first foreground image and the sixth background image.
6. The apparatus of claim 5, wherein the apparatus further comprises:
a first setting unit configured to set the first foreground image in a non-central position of the sixth background image.
7. A storage medium storing a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 3 when executed by a processor.
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