CN111382222B - High-precision map frame data edge connecting method and device - Google Patents
High-precision map frame data edge connecting method and device Download PDFInfo
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- CN111382222B CN111382222B CN201811647393.XA CN201811647393A CN111382222B CN 111382222 B CN111382222 B CN 111382222B CN 201811647393 A CN201811647393 A CN 201811647393A CN 111382222 B CN111382222 B CN 111382222B
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Abstract
The application provides a high-precision map frame data edge connecting method and device. The method comprises the following steps: triggering a first database returning operation, wherein the first database returning operation carries the drawing information of the currently submitted drawing; according to the current submitted drawing information, determining the peripheral drawing needing to be connected with the current submitted drawing; performing batch edge grafting on the currently submitted drawing and the peripheral drawing needing edge grafting with the currently submitted drawing; and taking the peripheral picture needing to be bordered with the currently submitted picture as a new currently submitted picture. Compared with the mode of uniformly vacating time to carry out batch processing edge connection after all the pictures in the prior art finish the operation, the time is saved.
Description
Technical Field
The application relates to the technical field of electronic maps, in particular to a method and a device for splicing high-precision map image data.
Background
The high-precision map needs to store various traffic elements in the traffic scene in a formatted manner, including road network data, lane lines, traffic signs and other data of the traditional map. At present, the operation editing process of the high-precision map is carried out in a framing manner, and after framing operation is completed, how to improve the efficiency of the edge connecting process of the adjacent frames is a problem to be solved at present.
In the prior art, all batch processing is adopted, specifically, after all the image works are completed, all the images are subjected to batch processing edge connection by a program. However, this approach of the prior art requires time dedicated to batch processing and is inefficient.
Disclosure of Invention
The application provides a high-precision map frame data edge connecting method and device, which are used for improving edge connecting efficiency.
In a first aspect, the present application provides a method for edge splicing of high-precision map image data, including:
triggering a first database returning operation, wherein the first database returning operation carries the drawing information of the currently submitted drawing;
according to the current submitted drawing information, determining the peripheral drawing needing to be connected with the current submitted drawing;
performing batch edge grafting on the currently submitted drawing and the peripheral drawing needing edge grafting with the currently submitted drawing;
and taking the peripheral picture needing to be bordered with the currently submitted picture as a new currently submitted picture.
In a second aspect, the present application provides a high-precision map frame data edge splicing device, including:
the triggering module is used for triggering a first database returning operation, wherein the first database returning operation carries the drawing information of the drawing submitted currently;
the first determining module is used for determining a peripheral picture needing to be connected with the currently submitted picture according to the currently submitted picture;
the edge splicing module is used for carrying out batch processing edge splicing on the currently submitted drawing and the peripheral drawing needing edge splicing with the currently submitted drawing;
and the second determining module is used for taking the surrounding picture needing to be connected with the currently submitted picture as a new currently submitted picture.
In a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the high-precision map data bordering method described above.
In a fourth aspect, the present application provides an electronic device comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to implement the high-precision map data bordering method described above via execution of the executable instructions.
According to the high-precision map frame data edge connecting method and device, after the map frames which are submitted and put in storage after the job is completed or the task is completed are obtained, the peripheral map frames which need to be connected with the map frames submitted at present are determined according to the map frames submitted at present, then batch edge connection is carried out on the map frames submitted at present, the peripheral map frames which need to be connected with the map frames submitted at present are further used as new map frames submitted at present, the process is repeatedly carried out, and edge connection of all map frames can be completed. Compared with the mode of uniformly vacating time to carry out batch processing edge splicing after all the pictures in the prior art finish the operation, the time is saved, and the map making efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic flow chart of an embodiment of a high-precision map frame data edge connection method provided by the application;
FIG. 2 is a schematic diagram of the present application;
fig. 3 is a schematic flow chart of a second embodiment of the high-precision map frame data edge connecting method provided by the application;
FIG. 4 is a schematic view of another embodiment of the present application;
fig. 5 is a schematic flow chart of a third embodiment of the high-precision map frame data edge connecting method provided by the application;
FIG. 6 is a schematic illustration of yet another embodiment of the present application;
fig. 7 is a schematic structural diagram of the high-precision map frame data edge connecting device provided by the application;
fig. 8 is a schematic diagram of a hardware structure of an electronic device according to the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the prior art, after the high-precision map is subjected to map frame division operation, all the map frames are subjected to batch processing edge splicing by a program. This approach of the prior art requires time dedicated to batch processing to be vacated and is inefficient.
Based on the problems existing in the prior art, the application provides a high-precision map frame data edge connecting method and device. The edge splicing work is started without the need of completing all the picture operations like the prior art. And after any picture completes the operation, the edge connection with the adjacent picture can be triggered, so that the purpose of dynamically and automatically connecting the edge in the operation process is realized, and compared with the prior art, the time is saved.
The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of an embodiment of a method for edge splicing of high-precision map frame data. The high-precision map image data edge connecting method provided by the embodiment can be executed by a corresponding high-precision map image data edge connecting device, and the high-precision map image data edge connecting device can be realized in a mode of software, hardware or a combination of software and hardware. As shown in fig. 1, the method for edge grafting of high-precision map frame data provided in this embodiment includes:
s101, triggering a first database returning operation, wherein the first database returning operation carries the drawing information of the drawing submitted currently.
Wherein, the currently submitted diagram refers to: and after the job is completed or the task is completed, submitting the drawing into a warehouse. Such as: after completing the operation on the image A, under the condition of confirming that the data is correct, the first database returning operation can be triggered, so that the data of the image A is submitted, and the image A is the currently submitted image.
S102, determining the peripheral picture needing to be bordered with the currently submitted picture according to the picture information of the currently submitted picture.
Wherein each currently submitted picture has a corresponding peripheral picture. The peripheral frames of a frame refer to: and a picture having a connection relationship with the picture.
Referring to fig. 2, assuming that the drawing at the middle position is the drawing currently submitted, four drawings having a connection relationship with the drawing are peripheral drawings of the drawing.
Optionally, the peripheral image needing to be bordered with the currently submitted image can be determined from the four peripheral images according to the information such as the outline point of the currently submitted image.
S103, carrying out batch edge connection on the currently submitted drawing and the peripheral drawing which needs to be subjected to edge connection with the currently submitted drawing.
Continuing with FIG. 2 as an example, assuming that all four peripheral frames shown in FIG. 2 need to be bordered by the currently submitted frame as determined by S102, batch bordering is performed on the currently submitted frame and the four peripheral frames.
S104, taking the surrounding picture needing to be bordered with the currently submitted picture as a new currently submitted picture.
Specifically, the steps S101 to S103 complete the edge splicing process of the currently submitted drawing. Further, the peripheral frame to be connected with the frame submitted at present is used as a new frame submitted at present, and the steps S101-S103 are repeated, so that the corresponding connection process is completed. And by analogy, the edge connection of all the pictures can be completed.
According to the high-precision map frame data edge connecting method provided by the embodiment, firstly, peripheral map frames needing to be connected with the currently submitted map frame are determined according to the currently submitted map frame, then batch edge connection is carried out on the currently submitted map frame, further the peripheral map frames needing to be connected with the currently submitted map frame are used as new currently submitted map frames, and the process is repeatedly carried out, so that edge connection of all map frames can be completed. Compared with the mode of uniformly vacating time to carry out batch processing edge connection after all the pictures in the prior art finish the operation, the time is saved.
The following describes in detail how to determine the peripheral frame to be bordered by the currently submitted frame according to the currently submitted frame in the above embodiment S102 with reference to specific embodiments.
Fig. 3 is a schematic flow chart of a second embodiment of the high-precision map frame data edge connection method provided by the application. As shown in fig. 3, the method for edge grafting of high-precision map frame data provided in this embodiment includes:
s301, triggering a first database returning operation, wherein the first database returning operation carries the drawing information of the drawing submitted currently.
The specific embodiment of S301 may be referred to the above embodiments, and the disclosure is not repeated here.
S302, determining the surrounding picture of the currently submitted picture according to the picture information of the currently submitted picture.
Specifically, referring to fig. 2 and the description of the above embodiments, the perimeter of the currently submitted drawing refers to: and the pictures with connection relation with the pictures submitted at present.
S303, determining the peripheral image needing to be connected with the currently submitted image according to the peripheral image of the currently submitted image.
Specifically, the above-mentioned method for determining the peripheral frame to be bordered by the currently submitted frame according to the peripheral frame of the currently submitted frame includes, but is not limited to, the following ways:
and judging whether the peripheral image of the currently submitted image is the peripheral image which needs to be bordered with the currently submitted image according to whether the image contour point for bordering exists between the peripheral image of the currently submitted image and the bordering information of the image contour point for bordering.
The following description is given in two cases:
first case: if a contour point for edge connection exists between the peripheral image of the currently submitted image and the contour point for edge connection does not exist, the peripheral image of the currently submitted image is directly determined to be the peripheral image which needs to be edge-connected with the currently submitted image.
Second case: if a drawing outline point for edge connection exists between the peripheral drawing frame of the currently submitted drawing frame and edge connection information exists on the drawing outline point for edge connection, judging whether data change exists between the peripheral drawing frame of the currently submitted drawing frame and the currently submitted drawing frame after the last edge connection according to the edge connection information of the drawing outline point for edge connection; if so, directly determining the peripheral image of the currently submitted image as the peripheral image which needs to be bordered with the currently submitted image.
It should be noted that: in addition to the above two cases, it is determined that the edge connection is necessary in the case where the data of the peripheral frame of the currently submitted frame and the data of the currently submitted frame are changed. The following is illustrative:
referring to fig. 4, assume that the perimeter frames of the currently submitted frames are perimeter frame 1, perimeter frame 2, perimeter frame 3, and perimeter frame 4. The above method will be described by taking the peripheral frame 1 as an example:
if there is a contour point for bordering between the peripheral frame 1 and the currently submitted frame and there is no bordering information for the contour point for bordering, the peripheral frame 1 is directly determined as a peripheral frame that needs to be bordered with the currently submitted frame. If a drawing outline point for edge connection exists between the peripheral drawing sheet 1 and the currently submitted drawing sheet and edge connection information exists in the drawing outline point for edge connection, judging whether data change exists between the peripheral drawing sheet 1 and the currently submitted drawing sheet after the last edge connection according to the edge connection information of the drawing outline point for edge connection; if so, the peripheral frame 1 is determined as the peripheral frame which needs to be bordered with the currently submitted frame.
Alternatively, the same method described above may be used to determine whether perimeter frame 2, perimeter frame 3, and perimeter frame 4 are perimeter frames that require bordering with the currently submitted frame.
S304, batch edge connection is carried out on the currently submitted drawing and the peripheral drawing which needs to be connected with the currently submitted drawing.
S305, taking the surrounding picture needing to be bordered with the currently submitted picture as a new currently submitted picture.
The implementation manner of S304-S305 can be referred to S103-S104 in the above embodiment, and the present application is not described herein.
The high-precision map frame data edge connecting method provided by the embodiment describes a specific process of determining peripheral map frames needing to be connected with the currently submitted map frame according to the currently submitted map frame, and provides data support for subsequent batch processing edge connection.
Fig. 5 is a schematic flow chart of a third embodiment of the high-precision map frame data edge connection method provided by the application. As shown in fig. 5, the method for edge grafting of high-precision map image data provided in this embodiment includes:
s501, triggering a first database returning operation, wherein the first database returning operation carries the drawing information of the drawing submitted currently.
S502, unlocking the currently submitted drawing.
The currently submitted drawing is in a locked state before unlocking, and is in an unlocked state after unlocking.
S503, determining the surrounding picture of the currently submitted picture according to the currently submitted picture.
S504, determining the peripheral image needing to be bordered with the currently submitted image according to the peripheral image of the currently submitted image.
The implementation manner of S501-S504 can be referred to the above embodiments, and the disclosure is not repeated here.
S505, judging whether a map frame in a locking state exists in the peripheral map frames needing to be connected with the currently submitted map frame.
S506, if the map frame in the locking state exists, the edge splicing task of the map frame in the locking state is recorded, but the edge splicing is not executed.
S507, performing edge connection on the currently submitted drawing and the drawing except for the locking state in the peripheral drawing needing edge connection with the currently submitted drawing.
The locked state refers to that the corresponding drawing sheet is in operation and edge connection cannot be performed. The unlocked state refers to the corresponding drawing sheet being completed and the edge splicing can be performed.
Specifically, when the peripheral frame which needs to be connected with the currently submitted frame is in a locking state, the frame is not completed, and the connection can not be performed temporarily, the connection task of the frame is recorded, and when the state of the frame is converted into an unlocking state, the connection is executed again.
Taking fig. 4 as an example for illustration, assuming that the peripheral frame 1, the peripheral frame 2, the peripheral frame 3 and the peripheral frame 4 are all peripheral frames that need to be connected to the currently submitted frame, it is determined whether the peripheral frame 1, the peripheral frame 2, the peripheral frame 3 and the peripheral frame 4 are in a locked state, and the determination result is: and when the states of the peripheral image frames 1, 2 and 3 are changed into the unlocked state, the currently submitted image frames 1, 2 and 3 are connected, and then the currently submitted image frames 1, 2 and 3 are connected.
S508, executing a theoretical checking task on the batch processing edge connection result to obtain a theoretical checking result.
Specifically, the theoretical inspection tasks include: it is checked whether the attributes of any two bordering panels are identical.
And S509, if the theoretical checking result has data errors, executing the task of modifying the errors.
Specifically, the error task is to modify the error checked in S508, and the modification result of the error task can be further confirmed manually.
S5010, taking the surrounding picture needing to be bordered with the currently submitted picture as a new currently submitted picture.
As described with reference to fig. 6, the above-mentioned steps S501-S509 are completed in the process of edge splicing of the currently submitted drawing in fig. 6, the peripheral drawing to be edge spliced with the currently submitted drawing in fig. 6 is continued to be the new currently submitted drawing, and the process is repeated in the case of the peripheral drawing 1, so that the edge splicing process of the peripheral drawing 1 and the peripheral drawing 11, the peripheral drawing 12 and the peripheral drawing 13 to be edge spliced can be completed. And the like, the edge connection of all the pictures can be completed.
According to the high-precision map frame data edge connecting method provided by the embodiment, when a frame with a locking state exists in a peripheral frame which is required to be connected with a currently submitted frame, corresponding edge connecting tasks are recorded, and when the frame is converted into an unlocking state, edge connection is performed on the frame. The purpose that the drawing after the operation is finished is connected with the drawing after the operation is finished is achieved. Compared with the mode of uniformly vacating time to carry out batch processing edge connection after all the pictures in the prior art finish the operation, the time is saved. Meanwhile, the edge splicing result can be checked and modified by triggering a theoretical checking task and a modification error task, so that the accuracy of the edge splicing result is improved.
Fig. 7 is a schematic structural diagram of the high-precision map frame data edge connecting device provided by the application. As shown in fig. 7, the high-precision map frame data edge connecting device provided by the application comprises:
the triggering module 701 is configured to trigger a first database returning operation, where the first database returning operation carries the drawing information of the drawing currently submitted;
a first determining module 702, configured to determine, according to the currently submitted drawing, a surrounding drawing that needs to be bordered by the currently submitted drawing;
a bordering module 703, configured to perform batch bordering on the currently submitted drawing and the surrounding drawing that needs to be bordered on the currently submitted drawing;
and a second determining module 704, configured to take the surrounding image needing to be bordered by the currently submitted image as a new currently submitted image.
Optionally, the first determining module 702 is specifically configured to:
determining the surrounding picture of the currently submitted picture according to the currently submitted picture;
and determining the peripheral image needing to be connected with the currently submitted image according to the peripheral image of the currently submitted image.
Optionally, the first determining module 702 is specifically configured to:
and if a contour point for edge connection exists between the peripheral image of the currently submitted image and the contour point for edge connection does not exist, determining the peripheral image of the currently submitted image as the peripheral image needing edge connection with the currently submitted image.
Optionally, the first determining module 702 is specifically configured to:
if a contour point for edge connection exists between the peripheral image of the currently submitted image and edge connection information exists on the contour point for edge connection, judging whether data change exists between the peripheral image of the currently submitted image and the currently submitted image after edge connection is performed last time according to the edge connection information of the contour point for edge connection;
and if so, determining the peripheral image of the currently submitted image as the peripheral image which needs to be bordered with the currently submitted image.
Optionally, the apparatus provided in this embodiment further includes:
a judging module 705, configured to judge whether a locked state picture exists in the surrounding picture that needs to be connected to the currently submitted picture;
a recording module 706, configured to record the edge splicing task of the locked state of the drawing sheet, but not execute edge splicing;
correspondingly, the edge splicing module 703 is specifically configured to:
and performing edge connection on the currently submitted drawing and the drawing which is required to be subjected to edge connection with the currently submitted drawing except for the locking state.
Optionally, the apparatus provided in this embodiment further includes:
the checking module 707 is configured to perform a theoretical checking task on the batch edge connecting result, to obtain a theoretical checking result;
and the modifying module 708 is configured to execute a task of modifying the error if the theoretical inspection result has a data error.
The high-precision map image data edge connecting device provided by the embodiment can be used for executing the high-precision map image data edge connecting method described in any one of the embodiments, and the implementation principle and the technical effect are similar and are not repeated here.
Fig. 8 is a schematic diagram of a hardware structure of an electronic device according to the present application. As shown in fig. 8, the electronic device of the present embodiment may include:
a memory 801 for storing program instructions.
The processor 802 is configured to implement the high-precision map image data edge connection method described in any of the foregoing embodiments when the program instructions are executed, and the specific implementation principle can be seen in the foregoing embodiments, which are not repeated herein.
The present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the high-precision map image data splicing method described in any of the above embodiments.
The present application also provides a program product comprising a computer program stored in a readable storage medium, from which at least one processor can read, the at least one processor executing the computer program causing an electronic device to implement the high-precision map picture data bordering method described in any of the above embodiments.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the application. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
It should be understood that the processor may be a central processing unit (english: central Processing Unit, abbreviated as CPU), or other general purpose processor, digital signal processor (english: digital Signal Processor, abbreviated as DSP), application specific integrated circuit (english: application Specific Integrated Circuit, abbreviated as ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (9)
1. The high-precision map frame data edge connecting method is characterized by comprising the following steps of:
triggering a first database returning operation, wherein the first database returning operation carries the drawing information of the drawing submitted at present, and the drawing submitted at present refers to: after the operation is finished or the task is finished, submitting the drawing into a warehouse;
according to the current submitted drawing information, determining the peripheral drawing needing to be connected with the current submitted drawing;
performing batch edge grafting on the currently submitted drawing and the peripheral drawing needing edge grafting with the currently submitted drawing;
and taking the peripheral picture needing to be bordered with the currently submitted picture as a new currently submitted picture.
2. The method of claim 1, wherein the determining, from the currently submitted frame, a perimeter frame that requires bordering the currently submitted frame comprises:
determining a peripheral image of the currently submitted image according to the currently submitted image, wherein the peripheral image of the currently submitted image is an image with a connection relation with the currently submitted image;
and determining the peripheral image needing to be connected with the currently submitted image according to the peripheral image of the currently submitted image.
3. The method of claim 2, wherein the determining the perimeter frame to be bordered by the currently submitted frame from the perimeter frame of the currently submitted frame comprises:
and if a contour point for edge connection exists between the peripheral image of the currently submitted image and the contour point for edge connection does not exist, determining the peripheral image of the currently submitted image as the peripheral image needing edge connection with the currently submitted image.
4. The method of claim 2, wherein the determining the perimeter frame to be bordered by the currently submitted frame from the perimeter frame of the currently submitted frame comprises:
if a contour point for edge connection exists between the peripheral image of the currently submitted image and edge connection information exists on the contour point for edge connection, judging whether data change exists between the peripheral image of the currently submitted image and the currently submitted image after edge connection is performed last time according to the edge connection information of the contour point for edge connection;
and if so, determining the peripheral image of the currently submitted image as the peripheral image which needs to be bordered with the currently submitted image.
5. The method of any of claims 1-4, wherein prior to performing batch bordering on the currently submitted drawing sheet and the surrounding drawing sheet, further comprising:
judging whether a map frame in a locking state exists in the peripheral map frames needing to be connected with the currently submitted map frame;
if the drawing frame in the locking state exists, recording the edge splicing task of the drawing frame in the locking state, but not executing edge splicing;
and performing edge connection on the currently submitted drawing and the drawing which is required to be subjected to edge connection with the currently submitted drawing except for the locking state.
6. The method of claim 5, wherein prior to said bordering said perimeter frame to said currently submitted frame as a new currently submitted frame, further comprising:
executing a theoretical checking task on the batch processing edge connecting result to obtain a theoretical checking result;
and if the theoretical checking result has data errors, executing the task of modifying the errors.
7. The utility model provides a high-definition map picture data flange device which characterized in that includes:
the triggering module is used for triggering a first database returning operation, wherein the first database returning operation carries the drawing information of the drawing submitted currently, and the drawing submitted currently refers to the following steps: after the operation is finished or the task is finished, submitting the drawing into a warehouse;
the first determining module is used for determining a peripheral picture needing to be connected with the currently submitted picture according to the currently submitted picture;
the edge splicing module is used for carrying out batch processing edge splicing on the currently submitted drawing and the peripheral drawing needing edge splicing with the currently submitted drawing;
and the second determining module is used for taking the surrounding picture needing to be connected with the currently submitted picture as a new currently submitted picture.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any of claims 1-6.
9. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to implement the method of any of claims 1-6 via execution of the executable instructions.
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