CN114422691A - Panoramic image synchronous shooting method and device, electronic equipment and storage medium - Google Patents
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Abstract
The embodiment of the application discloses a method and a device for synchronously shooting panoramic images, electronic equipment and a storage medium. Wherein, the method comprises the following steps: the first sensor group and the second sensor group are called at the same time at the time T0 to scan from opposite directions respectively to obtain a first image and a second image, the first image and the second image comprise images of a part of the same area, the same area is a first overlapping area, and a spliced image of the first image and the second image is obtained based on the first overlapping area, so that the time delay effect hardly occurs, namely the first image and the second image obtained in the overlapping area are at the same time, a position is presented in a final image, and the problem of ghost of the spliced image does not occur.
Description
Technical Field
The present application relates to the field of image processing, and in particular, to a method and an apparatus for synchronously shooting panoramic images, an electronic device, and a storage medium.
Background
A panoramic camera is an image pickup apparatus that generates a 360 ° three-dimensional scene image through a plurality of lenses, a sensor system, and an image stitching technique.
With the continuous development of panoramic camera technology, the application scenes of the existing panoramic camera are more and more extensive, such as the fields of tourism industry, security protection and the like. However, in these fields, the cost of large-scale deployment of the panoramic camera needs to be controlled, and the cost of large-scale deployment of the panoramic camera can be greatly controlled by using a shelf device at present. However, the shelf device is used for fixing the panoramic camera, when the panoramic camera starts shooting and scanning, even if the processor controls at least two adjacent sensors to synchronously start shooting and scan in the same direction, the scanning direction of the at least two adjacent sensors is opposite to the motion direction of a scanned object, and in addition, due to the time delay effect in the line-by-line scanning process, the time for the at least two adjacent sensors to scan to a first overlapping area of a visual field is different, so that moving object images in the first overlapping area collected by the two adjacent sensors are displaced, and under the action of an image stitching algorithm, images with different positions are presented in a final image twice, so that a problem of stitching ghost image is caused.
Disclosure of Invention
In view of the above technical problems in the prior art, embodiments of the present application provide a method, an apparatus, an electronic device, and a storage medium for panoramic image synchronous shooting, so as to solve the problem that images of a moving object in a first overlapping region acquired by two adjacent sensors are displaced due to different times when at least two adjacent sensors scan the first overlapping region of a field of view, and a final image will present images with different positions twice under the action of an image stitching algorithm, thereby generating a stitched ghost image.
A first aspect of an embodiment of the present application provides a method for synchronously shooting panoramic images, including:
the device applied to panoramic image synchronous shooting comprises a first sensor group and a second sensor group, wherein the first sensor group and the second sensor group respectively comprise at least one sensor, and the method comprises the following steps:
calling the first sensor group and the second sensor group at the same time at T0 to scan from opposite directions respectively to obtain a first image and a second image, wherein the first image and the second image comprise images of a part of the same area, and the same area is a first overlapping area;
and obtaining a spliced image of the first image and the second image based on the first overlapping area.
Optionally, the scanning of the first sensor group to obtain the first image, and when the first sensor group includes the first sub-sensor and the second sub-sensor, invoking the scanning of the first sensor group to obtain the first image at time T0 includes:
calling the first sub-sensor to scan according to a target direction at the time T0 to obtain a first sub-image;
calling the second sub-sensor to scan according to the target direction at a time T1 to obtain a second sub-image, wherein the time T1 is the time when the first sub-sensor finishes scanning, the first sub-image and the second sub-image comprise images of a part of the same area, and the same area contained in the first sub-image and the second sub-image is a second overlapping area;
and for each position in the second overlapping area, combining the pixel corresponding to the position in the first sub-image and the pixel corresponding to the position in the second sub-image into one pixel to obtain the first image.
Optionally, the second overlapping area includes a first boundary and a second boundary, where the second boundary is a boundary of the first sub-image, the first boundary is located within the first sub-image, and the invoking the second sub-sensor to scan according to the target direction at time T1 to obtain a second sub-image includes:
and at the time T1, calling the second sub-sensor to scan from the position of the first boundary according to the target direction to obtain the second sub-image.
Optionally, the obtaining the second image by scanning with the second sensor group, and when the second sensor group includes the third sub-sensor and the fourth sub-sensor, invoking the second sensor group to scan with the second sensor group at time T0 includes:
calling the third sub-sensor to scan in the opposite direction of the target direction at the time T0 to obtain a third sub-image;
calling the fourth sub-sensor to scan in the opposite direction of the target direction at a time T1 to obtain a fourth sub-image, where the time T1 is a time when the third sub-sensor finishes scanning, the third sub-image and the fourth sub-image include images of a partially same area, and the fourth sub-image and the second sub-image both include images of the first overlapping area;
and splicing the third sub-image and the fourth sub-image to obtain the second image.
Optionally, the apparatus for panoramic image synchronized shooting further includes a third sensor group, the third sensor group includes at least one sensor, and the method further includes:
calling the third sensor group to scan the area where the end face perpendicular to the first image and the second image is located at the time T1, so as to obtain at least a third image, where the third image and the first image both include an image of a third overlapping area, the third image and the second image both include an image of a fourth overlapping area, and the scanning direction of the third sensor group is as follows: pointing from a starting point of the target direction and a direction opposite to the target direction to an intersection point of the target direction and the direction opposite to the target direction;
and for each position in the third overlapping area and the fourth overlapping area, combining the pixel corresponding to the position in the third image and the respective corresponding pixels in the first image and the second image into one pixel to obtain a spliced image of the first image, the second image and the third image.
Optionally, the scanning by the first sensor group to obtain the first image, and when the first sensor group includes the first sub-sensor and the second sub-sensor, invoking the scanning by the first sensor group to obtain the first image at time T0 further includes:
calling the first sub-sensor and the second sub-sensor to scan from opposite directions at the time of T0 to obtain a first sub-image and a second sub-image, wherein the first sub-image and the second sub-image comprise images of partial same areas, and the same areas contained in the first sub-image and the second sub-image are second overlapping areas;
and for each position in the second overlapping area, combining the pixel corresponding to the position in the first sub-image and the pixel corresponding to the position in the second sub-image into one pixel to obtain the first image.
A second aspect of the embodiments of the present application provides an apparatus for panoramic image synchronized shooting, including:
the image processing method comprises the steps that a first sensor group and a second sensor group are arranged, each of the first sensor group and the second sensor group comprises at least one sensor, and the sensors are used for calling the first sensor group and the second sensor group to scan from opposite directions at the time T0 simultaneously to obtain a first image and a second image, the first image and the second image comprise images of a part of the same area, and the same area is a first overlapping area;
and obtaining a spliced image of the first image and the second image based on the first overlapping area.
Optionally, the method further comprises:
a third sensor group, where the third sensor group includes at least one sensor, and is configured to invoke the third sensor group to scan an area where an end face perpendicular to both the first image and the second image is located at time T1, to obtain at least a third image, where the third image and the first image both include an image of a third overlapping area, the third image and the second image both include an image of a fourth overlapping area, and a scanning direction of the third sensor group is: pointing from a starting point of the target direction and a direction opposite to the target direction to an intersection point of the target direction and the direction opposite to the target direction;
and for each position in the third overlapping area and the fourth overlapping area, combining the pixel corresponding to the position in the third image and the respective corresponding pixels in the first image and the second image into one pixel to obtain a spliced image of the first image, the second image and the third image.
A third aspect of an embodiment of the present application provides an electronic device, including:
a memory and one or more processors;
wherein the memory is communicatively coupled to the one or more processors, and the memory stores instructions executable by the one or more processors, and when the instructions are executed by the one or more processors, the electronic device is configured to implement the method according to the foregoing embodiments.
A fourth aspect of the embodiments of the present application provides a storage medium having stored thereon computer-executable instructions, which, when executed by a computing device, may be used to implement the method according to the foregoing embodiments.
According to the embodiment of the application, the first sensor group and the second sensor group are called at the time T0 to scan from opposite directions respectively to obtain the first image and the second image, the first image and the second image comprise images of partial same areas, the same areas are first overlapping areas, and the spliced image of the first image and the second image is obtained based on the first overlapping areas, so that the time delay effect hardly occurs, namely, the first image and the second image are obtained at the same time in the overlapping areas, a position is presented in the final image, and the problem of ghost of the spliced image cannot occur.
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The features and advantages of the present application will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the present application in any way, and in which:
FIG. 1 is a schematic flow diagram of a method for synchronized capture of panoramic images, according to some embodiments of the present application;
FIG. 2 is a schematic view of pixel scanning in a method for panoramic image synchronized capture according to some embodiments of the present application;
FIG. 3 is a schematic illustration of additional pixel scanning in a method of panoramic image synchronized capture according to some embodiments of the present application;
FIG. 4 is a schematic diagram of top view pixel scanning in a method of panoramic image synchronized capture according to some embodiments of the present application;
FIG. 5 is a schematic illustration of additional pixel scanning in a method of panoramic image synchronized capture according to some embodiments of the present application;
FIG. 6 is a schematic view of another angular pixel scan in a method for panoramic image synchronized capture according to some embodiments of the present application;
FIG. 7 is another schematic view of a top-down pixel scan in a method of panoramic image synchronized capture according to some embodiments of the present application;
fig. 8 is a schematic diagram of yet another top-down pixel scan in a method of panoramic image synchronized capture according to some embodiments of the present application.
Detailed Description
In the following detailed description, numerous specific details of the present application are set forth by way of examples in order to provide a thorough understanding of the relevant disclosure. It will be apparent, however, to one skilled in the art that the present application may be practiced without these specific details. It should be understood that the use of the terms "system," "apparatus," "unit" and/or "module" herein is a method for distinguishing between different components, elements, portions or assemblies at different levels of sequential arrangement. However, these terms may be replaced by other expressions if they can achieve the same purpose.
It will be understood that when a device, unit or module is referred to as being "on" … … "," connected to "or" coupled to "another device, unit or module, it can be directly on, connected or coupled to or in communication with the other device, unit or module, or intervening devices, units or modules may be present, unless the context clearly dictates otherwise. For example, as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in the specification and claims of this application, the terms "a", "an", and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" are intended to cover only the explicitly identified features, integers, steps, operations, elements, and/or components, but not to constitute an exclusive list of such features, integers, steps, operations, elements, and/or components.
Various block diagrams are used in this application to illustrate various variations of embodiments according to the application. It should be understood that the foregoing and following structures are not intended to limit the present application. The protection scope of this application is subject to the claims.
As shown in fig. 1, the present application provides a method for panoramic image synchronous shooting, including:
the device applied to panoramic image synchronous shooting comprises a first sensor group and a second sensor group, wherein the first sensor group and the second sensor group respectively comprise at least one sensor, and the method comprises the following steps:
and calling the first sensor group and the second sensor group at the same time at T0 to scan from opposite directions respectively to obtain a first image and a second image, wherein the first image and the second image comprise images of a part of the same area, the same area is a first overlapping area, and a spliced image of the first image and the second image is obtained based on the first overlapping area. Therefore, the time delay effect can hardly occur, namely the first image and the second image obtained in the overlapping area are at the same time, the final image presents a position once, and the problem of splicing image ghosting can not occur.
As shown in fig. 2 to 4, in an embodiment, the first sensor group includes two sensors, namely a first sensor and a second sensor, and the second sensor group includes two sensors, namely a third sensor and a fourth sensor, wherein the first sensor and the second sensor, and the third sensor and the fourth sensor are sequentially disposed toward one direction, and each of the adjacent sensors has an overlapping area, and the overlapping area includes a first overlapping area. Specifically, the first sensor and the second sensor scan simultaneously in opposite directions at time T0, and both scan in the direction of the overlapping area, and finally scan to the overlapping area simultaneously, and the first sensor and the second sensor scan to the respective boundary and end the scanning to obtain the first image, and at the same time, the scanning direction between the second sensor and the third sensor at time T0 scans from the overlapping area to the respective boundary of the second sensor and the third sensor to obtain the second image. Similarly, the third sensor and the fourth sensor scan simultaneously in opposite directions at time T0, and both scan in the direction of the overlapping area, and finally scan simultaneously to the overlapping area, and the third sensor and the fourth sensor scan to the respective boundary and end the scan, resulting in a further first image, while at time T0 the scan direction between the first sensor and the fourth sensor starts scanning from the overlapping area until the respective boundary of the first sensor and the fourth sensor ends the scan, resulting in a further second image, and the images are stitched together to form a final stitched image.
It should be noted that, based on the first overlapping area, specifically, for each position in the first overlapping area, combining the pixel corresponding to the position in the first image and the pixel corresponding to the position in the second image into one pixel, so as to obtain a stitched image of the first image and the second image.
Alternatively, the pixel scanning mode is to scan in the horizontal direction first and then scan in the vertical direction, and the pixel scanning mode may also be the same in the scanning order in the horizontal direction, but a method of scanning in the vertical direction first and then scanning in the horizontal direction is used.
As shown in fig. 5 to 7, optionally, the scanning by the first sensor group to obtain the first image, and when the first sensor group includes the first sub-sensor and the second sub-sensor, the invoking the scanning by the first sensor group to obtain the first image at time T0 includes:
calling the first sub-sensor to scan in a target direction at the time of T0 to obtain a first sub-image, calling the second sub-sensor to scan in the target direction at the time of T1 to obtain a second sub-image, wherein the time of T1 is the time when the first sub-sensor finishes scanning, the first sub-image and the second sub-image include images of partially identical regions, the identical regions included in the first sub-image and the second sub-image are second overlapping regions, and for each position in the second overlapping regions, merging a pixel corresponding to the position in the first sub-image and a pixel corresponding to the position in the second sub-image into one pixel to obtain the first image.
Specifically, the first sub-sensor and the second sub-sensor have the same scanning direction and sequentially scan according to a time sequence, wherein the first sub-sensor can scan the second overlapping area at time T1, and the second sub-sensor starts scanning at the time when the first sub-sensor finishes scanning, so that the first sub-sensor and the second sub-sensor scan at the same time, and finally the obtained first image and the second image are spliced without generating double images or dislocation.
In one embodiment, the second overlapping area includes a first boundary and a second boundary, the second boundary is a boundary of the first sub-image, the first boundary is located within the first sub-image, and the invoking of the second sub-sensor at time T1 scans the second sub-sensor in the target direction to obtain a second sub-image includes:
and at the time T1, calling the second sub-sensor to scan from the position of the first boundary according to the target direction to obtain the second sub-image.
In one embodiment, the second sensor group obtaining the second image by scanning, and when the second sensor group includes a third sub-sensor and a fourth sub-sensor, invoking the second sensor group to obtain the second image by scanning at time T0 includes:
calling the third sub-sensor to scan in the opposite direction of the target direction at the time T0 to obtain a third sub-image, calling the fourth sub-sensor to scan in the opposite direction of the target direction at the time T1 to obtain a fourth sub-image, wherein the time T1 is the time when the third sub-sensor finishes scanning, the third sub-image and the fourth sub-image comprise images of a part of the same area, the fourth sub-image and the second sub-image both comprise images of the first overlapping area, and stitching the third sub-image and the fourth sub-image to obtain the second image.
Specifically, the scanning directions of the third sub-sensor and the fourth sub-sensor are the same, and the third sub-sensor and the fourth sub-sensor sequentially scan according to the time sequence, wherein the third sub-sensor can scan the first overlapping area at the time of T1, and the fourth sub-sensor starts scanning at the time when the third sub-sensor finishes scanning, so that the third sub-sensor and the fourth sub-sensor scan at the same time, and finally, the obtained second image and the first image are spliced without generating double images or dislocation. In fact, the first and second sub-sensors scan in opposite directions to the third and fourth sub-sensors.
As shown in fig. 8, in an embodiment, the apparatus for panoramic image synchronized shooting further includes a third sensor group, the third sensor group includes at least one sensor, and the method further includes:
calling the third sensor group to scan the area where the end face perpendicular to the first image and the second image is located at the time T1, so as to obtain at least a third image, where the third image and the first image both include an image of a third overlapping area, the third image and the second image both include an image of a fourth overlapping area, and the scanning direction of the third sensor group is as follows: and aiming at each position in the third overlapping area and the fourth overlapping area, combining a pixel corresponding to the position in the third image and a pixel corresponding to each of the first image and the second image into one pixel to obtain a spliced image of the first image, the second image and the third image.
Optionally, a third sensor group is disposed above the first sensor group and the second sensor group, the third sensor group is for supplementing the shooting of the top view position, and of course, a fourth sensor group corresponding to the third sensor group is also included, the fourth sensor group is disposed below the first sensor group and the second sensor group, the fourth sensor group is for supplementing the shooting of the bottom view position, and the scanning mode of the fourth sensor group is the same as that of the third sensor group, so that the obtained final picture effect is better.
In one embodiment, the scanning of the first sensor group to obtain the first image, when the first sensor group includes a first sub-sensor and a second sub-sensor, the invoking the scanning of the first sensor group to obtain the first image at time T0 further includes:
and calling the first sub-sensor and the second sub-sensor at the same time at the time of T0 to scan from opposite directions respectively to obtain a first sub-image and a second sub-image, wherein the first sub-image and the second sub-image comprise images of partially identical regions, the identical regions contained in the first sub-image and the second sub-image are second overlapping regions, and for each position in the second overlapping regions, merging a pixel corresponding to the position in the first sub-image and a pixel corresponding to the position in the second sub-image into one pixel to obtain the first image.
The present application further provides a device for panoramic image synchronous shooting, including:
the image processing method comprises the steps that a first sensor group and a second sensor group are arranged, the first sensor group and the second sensor group respectively comprise at least one sensor, the sensors are used for calling the first sensor group and the second sensor group to scan from opposite directions at the time T0 simultaneously, a first image and a second image are obtained, the first image and the second image comprise images of partial same areas, the same areas are first overlapping areas, and a spliced image of the first image and the second image is obtained based on the first overlapping areas. Therefore, the time delay effect can hardly occur, namely the first image and the second image obtained in the overlapping area are at the same time, the final image presents a position once, and the problem of splicing image ghosting can not occur.
Optionally, the method further comprises:
a third sensor group, where the third sensor group includes at least one sensor, and is configured to invoke the third sensor group to scan an area where an end face perpendicular to both the first image and the second image is located at time T1, to obtain at least a third image, where the third image and the first image both include an image of a third overlapping area, the third image and the second image both include an image of a fourth overlapping area, and a scanning direction of the third sensor group is: and aiming at each position in the third overlapping area and the fourth overlapping area, combining a pixel corresponding to the position in the third image and a pixel corresponding to each of the first image and the second image into one pixel to obtain a spliced image of the first image, the second image and the third image.
The present application further provides an electronic device, comprising:
a memory and one or more processors;
wherein the memory is communicatively coupled to the one or more processors and has stored therein instructions executable by the one or more processors, the electronic device being configured to implement a method as in any of the above embodiments when the instructions are executed by the one or more processors.
The present application also provides a storage medium having stored thereon computer-executable instructions operable, when executed by a computing device, to implement a method as in any of the embodiments described above.
It is to be understood that the above-described embodiments of the present application are merely illustrative of or illustrative of the principles of the present application and are not to be construed as limiting the present application. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present application shall be included in the protection scope of the present application. Further, it is intended that the appended claims cover all such changes and modifications that fall within the scope and range of equivalents of the appended claims, or the equivalents of such scope and range.
Claims (10)
1. A method for panoramic image synchronous shooting is applied to a panoramic image synchronous shooting device, the panoramic image synchronous shooting device comprises a first sensor group and a second sensor group, the first sensor group and the second sensor group both comprise at least one sensor, and the method comprises the following steps:
calling the first sensor group and the second sensor group at the same time at T0 to scan from opposite directions respectively to obtain a first image and a second image, wherein the first image and the second image comprise images of a part of the same area, and the same area is a first overlapping area;
and obtaining a spliced image of the first image and the second image based on the first overlapping area.
2. The method for synchronously shooting panoramic images as claimed in claim 1, wherein the scanning of the first sensor group to obtain the first image comprises, when the first sensor group comprises a first sub-sensor and a second sub-sensor, invoking the scanning of the first sensor group to obtain the first image at time T0:
calling the first sub-sensor to scan according to a target direction at the time T0 to obtain a first sub-image;
calling the second sub-sensor to scan according to the target direction at a time T1 to obtain a second sub-image, wherein the time T1 is the time when the first sub-sensor finishes scanning, the first sub-image and the second sub-image comprise images of a part of the same area, and the same area contained in the first sub-image and the second sub-image is a second overlapping area;
and for each position in the second overlapping area, combining the pixel corresponding to the position in the first sub-image and the pixel corresponding to the position in the second sub-image into one pixel to obtain the first image.
3. The method of claim 2, wherein the second overlapping area comprises a first boundary and a second boundary, the second boundary is a boundary of the first sub-image, the first boundary is located within the first sub-image, and the invoking of the second sub-sensor at time T1 to scan the second sub-image according to the target direction comprises:
and at the time T1, calling the second sub-sensor to scan from the position of the first boundary according to the target direction to obtain the second sub-image.
4. The method for panoramic image synchronous shooting according to claim 2, wherein the second sensor group scans to obtain the second image, and when the second sensor group comprises a third sub-sensor and a fourth sub-sensor, invoking the second sensor group to scan to obtain the second image at time T0 comprises:
calling the third sub-sensor to scan in the opposite direction of the target direction at the time T0 to obtain a third sub-image;
calling the fourth sub-sensor to scan in the opposite direction of the target direction at a time T1 to obtain a fourth sub-image, where the time T1 is a time when the third sub-sensor finishes scanning, the third sub-image and the fourth sub-image include images of a partially same area, and the fourth sub-image and the second sub-image both include images of the first overlapping area;
and splicing the third sub-image and the fourth sub-image to obtain the second image.
5. The method of panoramic image synchronous shooting according to claims 2 to 4, characterized in that the device of panoramic image synchronous shooting further comprises a third sensor group, the third sensor group comprises at least one sensor, the method further comprises:
calling the third sensor group to scan the area where the end face perpendicular to the first image and the second image is located at the time T1, so as to obtain at least a third image, where the third image and the first image both include an image of a third overlapping area, the third image and the second image both include an image of a fourth overlapping area, and the scanning direction of the third sensor group is as follows: pointing from a starting point of the target direction and a direction opposite to the target direction to an intersection point of the target direction and the direction opposite to the target direction;
and for each position in the third overlapping area and the fourth overlapping area, combining the pixel corresponding to the position in the third image and the respective corresponding pixels in the first image and the second image into one pixel to obtain a spliced image of the first image, the second image and the third image.
6. The method of claim 1, wherein the scanning of the first sensor group to obtain the first image, and when the first sensor group comprises a first sub-sensor and a second sub-sensor, the scanning of the first sensor group to obtain the first image at time T0 further comprises:
calling the first sub-sensor and the second sub-sensor to scan from opposite directions at the time of T0 to obtain a first sub-image and a second sub-image, wherein the first sub-image and the second sub-image comprise images of partial same areas, and the same areas contained in the first sub-image and the second sub-image are second overlapping areas;
and for each position in the second overlapping area, combining the pixel corresponding to the position in the first sub-image and the pixel corresponding to the position in the second sub-image into one pixel to obtain the first image.
7. An apparatus for panoramic image synchronized photographing, comprising:
the image processing method comprises the steps that a first sensor group and a second sensor group are arranged, each of the first sensor group and the second sensor group comprises at least one sensor, and the sensors are used for calling the first sensor group and the second sensor group to scan from opposite directions at the time T0 simultaneously to obtain a first image and a second image, the first image and the second image comprise images of a part of the same area, and the same area is a first overlapping area;
and obtaining a spliced image of the first image and the second image based on the first overlapping area.
8. The apparatus for panoramic image synchronized photographing according to claim 7, further comprising:
a third sensor group, where the third sensor group includes at least one sensor, and is configured to invoke the third sensor group to scan an area where an end face perpendicular to both the first image and the second image is located at time T1, to obtain at least a third image, where the third image and the first image both include an image of a third overlapping area, the third image and the second image both include an image of a fourth overlapping area, and a scanning direction of the third sensor group is: pointing from a starting point of the target direction and a direction opposite to the target direction to an intersection point of the target direction and the direction opposite to the target direction;
and for each position in the third overlapping area and the fourth overlapping area, combining the pixel corresponding to the position in the third image and the respective corresponding pixels in the first image and the second image into one pixel to obtain a spliced image of the first image, the second image and the third image.
9. An electronic device, comprising:
a memory and one or more processors;
wherein the memory is communicatively coupled to the one or more processors and has stored therein instructions executable by the one or more processors, the electronic device being configured to implement the method of any of claims 1-6 when the instructions are executed by the one or more processors.
10. A storage medium having stored thereon computer-executable instructions operable, when executed by a computing device, to implement the method of any of claims 1-6.
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