Method, system and equipment for constructing three-dimensional model based on geometric primitive hierarchy and medium

Abstract

The invention relates to a method, a system, equipment and a medium for constructing a three-dimensional model based on geometric primitive hierarchy, and the method comprises the following steps: generating basic geometric primitives based on user input; determining a mapping rule type and an input parameter based on the generated basic geometric primitive; automatically executing a mapping algorithm to generate an initial three-dimensional grid model based on the determined mapping rule type and the input parameters; and adjusting and optimizing the initial three-dimensional grid model according to user requirements to obtain a final three-dimensional grid model. According to the method, basic geometric primitives are subjected to formalized description through a mathematical expression, a hierarchical structure capable of being driven by parameters is constructed, and systematic organization and precise control of a three-dimensional model are achieved. Thus. The method can be widely applied to the technical field of computer graphics and three-dimensional modeling.

Description

Technical Field

[0001] This invention belongs to the field of computer graphics and 3D modeling technology, specifically relating to a method, system, device and medium for hierarchically constructing 3D models based on basic geometric primitives such as points, lines and surfaces. Background Technology

[0002] Currently, the construction of 3D models mainly relies on two methods: one is manual modeling based on advanced modeling tools, which depends on professional modeling software such as Blender, 3ds Max, and Maya. Users construct 3D models by manually operating complex graphical toolchains (such as extrusion, lofting, Boolean operations, polygon sculpting, etc.). Although these tools are powerful and capable of creating highly complex models, they have a steep learning curve and require a high level of proficiency. Moreover, this type of modeling process is usually "black box," lacking precise parametric description and control of the geometric structure. Once the model is completed, modifying its underlying structure or dimensions often requires traversing a large number of steps, making it difficult to achieve traceability and automated iteration of the design, thus limiting its application in engineering design, parametric product development, and other scenarios.

[0003] Another approach is procedural generation, which involves writing program code (commonly in languages ​​like C++ and Python) to call underlying graphics APIs (such as OpenGL and DirectX) or graphics libraries to generate models. Theoretically, this method offers good repeatability and parameterization. However, it requires users to have strong programming skills and knowledge of computer graphics, making it a high-barrier-to-entry method. Furthermore, because it directly manipulates vertices, faces, or shaders, the code logic is often tightly coupled to the specific model, lacking generality and structural abstraction, resulting in poor flexibility. In addition, this method typically lacks real-time visual feedback, making it difficult to support rapid prototyping and interactive adjustments, leading to low development efficiency and hindering efficient creation by non-computer graphics professionals or designers. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this invention is to provide a method, system, device, and medium for constructing three-dimensional models based on hierarchical geometric primitives. This method formally describes basic geometric primitives through mathematical expressions, constructs a parameter-driven hierarchical structure, and achieves systematic organization and precise control of the three-dimensional model.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a method for constructing a three-dimensional model based on a hierarchical structure of geometric primitives, comprising the following steps: Generate basic geometric primitives based on user input; Based on the generated basic geometric primitives, determine the mapping rule type and input parameters; Based on the defined mapping rule type and input parameters, the mapping algorithm is automatically executed to generate an initial 3D mesh model; The initial 3D mesh model is adjusted and optimized according to user requirements to obtain the final 3D mesh model.

[0006] Furthermore, the generation of basic geometric primitives based on user input includes: Based on the user-input 3D spatial coordinates, generate a single point or a set of points. Based on the generated point set, a line or a line set composed of multiple lines is generated by sequentially or cyclically connecting them according to preset connection rules. A face or a set of faces can be generated from a closed line set, or a face or a set of faces can be generated directly from a point set according to a preset sorting rule.

[0007] Furthermore, the determination of the mapping rule type and input parameters based on the generated basic geometric primitives includes: Create mapping rules from different basic geometric units to three-dimensional shapes; Based on user requirements, the mapping rules from basic geometric units to three-dimensional shapes are selected, and the corresponding input parameters are determined.

[0008] Furthermore, the mapping rules from basic geometric units to three-dimensional shapes include at least the mapping rules from points to spheres, lines to cylinders, and faces to cubes; The mapping rule from a point to a sphere is represented by a center point coordinate: P(x,y,z) and a radius parameter r; the mapping rule from a line to a cylinder is represented by a line L and a radius parameter r, where the line L is composed of multiple vertices; and the mapping rule from a face to a cube is represented by a plane F and a thickness parameter d.

[0009] Furthermore, the input parameters include at least density parameters, curvature parameters, and consistency parameters. The density parameters are used to control the density of sampling points, vertices, or mesh cells on the surface or volume of the 3D model when generating a 3D shape from basic geometric units. The curvature parameters are used to control the smoothness of the model. The consistency parameters are used to ensure the compatibility of adjacent faces in the model.

[0010] Furthermore, the automatic execution of the mapping algorithm to generate an initial 3D mesh model based on the determined mapping rule type and input parameters includes: Based on the determined mapping rule type and input parameters, all vertex data, patch index data, and normal data of the 3D model are automatically calculated and generated. According to preset rules, all vertex data, patch index data and normal data are connected to form an initial 3D mesh model.

[0011] Furthermore, the step of adjusting and optimizing the initial 3D mesh model according to user requirements to obtain the final 3D mesh model includes: Determine whether the initial 3D mesh model meets the user's requirements. If not, adjust the basic set primitives or corresponding mapping rules and input parameters. Based on the adjusted basic set primitives or mapping rules and input parameters, the mapping algorithm is re-executed to obtain the adjusted 3D mesh model, until the final 3D mesh model is output after meeting the user's requirements.

[0012] Secondly, the present invention provides a system for constructing a three-dimensional model based on a hierarchical structure of geometric primitives, comprising: The input acquisition module is used to generate basic geometric primitives based on user input; The mapping rule and parameter determination module is used to determine the mapping rule type and input parameters based on the generated basic geometric primitives. The model creation module is used to automatically execute a mapping algorithm to generate an initial 3D mesh model based on a defined mapping rule type and input parameters. The model adjustment module is used to adjust and optimize the initial 3D mesh model according to user needs to obtain the final 3D mesh model.

[0013] Thirdly, the present invention provides a computer-readable storage medium for storing one or more programs, said one or more programs including instructions that, when executed by a computing device, cause the computing device to perform any method.

[0014] Fourthly, the present invention provides a computing device comprising: one or more processors and a memory, wherein the memory stores one or more programs and is configured to be executed by the one or more processors, the one or more programs including instructions for performing any method.

[0015] Due to the adoption of the above technical solutions, this invention has the following advantages: It offers significant advantages in terms of modeling intuitiveness, as its construction process strictly adheres to the fundamental principles of mathematics and geometry, significantly reducing the barriers to understanding and operation. At the parametric control level, this invention achieves refined driving from the underlying geometric units (such as the position of points, the path of lines, and the shape of surfaces). Adjustments to each parameter can be automatically and in real-time propagated to the entire model hierarchy, demonstrating extremely strong global parameter correlation and responsiveness. Furthermore, by encapsulating complex geometric operations into concise mapping rules (such as point → sphere, line → cylinder), the method greatly improves the construction efficiency of the basic model and prototype.

[0016] Therefore, this invention can be widely applied in the fields of computer graphics and 3D modeling technology. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. In the drawings: Figure 1 This is a flowchart of a method for constructing a three-dimensional model based on the hierarchical arrangement of geometric primitives provided in this embodiment of the invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0020] To address the problems of existing modeling methods, analysis shows that an ideal modeling method should allow complex 3D shapes to be generated step-by-step in a hierarchical and parametric manner based directly on basic geometric primitives such as points, lines, and surfaces, through formal mathematical expressions and explicit construction rules. This invention addresses this technical problem by providing a novel 3D modeling method that strives to achieve an effective balance between intuitiveness, controllability, and generation efficiency.

[0021] In some embodiments of the present invention, a method for constructing a 3D model based on a hierarchical geometric primitive is provided. This method uses basic geometric primitives such as points, lines, and surfaces as the operation objects to establish explicit mapping rules from basic geometric primitives to 3D shapes. Then, these explicit mapping rules are bound to a set of customizable parameters to achieve real-time parametric control of the generated model. After applying the mapping rules, geometric calculations and mesh generation can be automatically completed, outputting a triangular mesh model that conforms to computer graphics standards. This aims to solve the following technical problems: 1. Addressing the issue that existing 3D model building relies on low-level tool operations, this approach establishes the 3D modeling process on a mathematical foundation, ensuring that every geometric entity and operation possesses explicit mathematical expressions and parameter interfaces. Parameter variables can be directly defined or modified, achieving true parametric design.

[0022] 2. Construct a structured modeling language or interaction mode that allows models to be built layer by layer, starting from geometric primitives such as points, lines, and surfaces, like building blocks, through clear geometric operation rules (such as stretching, rotating, stacking, and combining). Each operation can be named, parameterized, backtracked, and reused.

[0023] Correspondingly, in other embodiments of the present invention, a system, device, and medium for constructing three-dimensional models based on a hierarchical arrangement of geometric primitives are provided.

[0024] Example 1 like Figure 1 As shown, this embodiment provides a method for constructing a 3D model based on a hierarchical structure of geometric primitives, which includes the following steps: 1) Generate basic geometric primitives based on user input; 2) Based on the generated basic geometric primitives, determine the mapping rule type and input parameters; 3) Based on the determined mapping rule type and input parameters, the mapping algorithm is automatically executed to generate the initial 3D mesh model; 4) Adjust and optimize the initial 3D mesh model according to user requirements to obtain the final 3D mesh model for rendering, printing, etc.

[0025] Furthermore, in step 1) above, the basic geometric primitives in this embodiment mainly include vertex, edge, and face. Specifically, based on user input, a single vertex or a set of multiple vertexes can be generated; based on the generated vertex set, a line or a set of lines can be generated by sequentially or cyclically connecting them according to preset connection rules; faces or sets of faces can be generated based on closed set of lines, or faces or sets of faces can be generated directly from the vertex set according to preset sorting rules.

[0026] Specifically, user input can be done through manual drawing or by uploading vector data. Manual drawing refers to drawing any type of basic geometric primitive on a layer; for example, points can be drawn directly, or points can be dragged to form lines or polygons. If the number of points is one, a point is generated by default; if the number of points is greater than one, a point set is generated by default; the same applies to lines and polygons. Uploading vector data refers to uploading vector source data containing points, lines, polygons, sets, etc. This source data usually has an identifier, allowing direct identification of the data type to generate the corresponding basic geometric primitive.

[0027] Furthermore, step 2) above includes the following steps: 2.1) Create mapping rules from different basic geometric units to three-dimensional shapes.

[0028] In this embodiment, the mapping rules from basic geometric units to three-dimensional shapes mainly include the following: ① Mapping rules from a point to a sphere In this embodiment, the mapping rule from a point to a sphere is represented by a center point coordinate: P(x, y, z) and a radius parameter r. Essentially, the mapping rule generates all vertices around the center point P at a distance r based on the polar angle and azimuth angle, and connects these vertices according to the spherical topology to form triangular facets. The polar angle and azimuth angle are two important angles describing the position of a point in three-dimensional space, which will not be elaborated further in this invention.

[0029] ② Mapping rules from line to cylinder In this embodiment, the line-to-cylinder mapping rule is represented by a line L and a radius parameter r, where line L consists of multiple vertices. According to the line-to-cylinder mapping rule, a circle with a normal direction perpendicular to line L is generated along each vertex of the path line L. These circles are connected to form the side mesh of the cylinder.

[0030] At the same time, depending on the user's selection, the openings at both ends can be automatically closed to generate circular surfaces at the top and bottom.

[0031] ③ Mapping rules from face to cube: In this embodiment, the face-to-cube mapping rule is represented by a plane F and a thickness parameter d. According to the face-to-cube mapping rule, plane F can be translated by a distance of d / 2 in both the positive and negative directions along its normal direction to generate a new parallel face, and then the side surface of the cube is constructed. At the same time, all edges are automatically closed to form a complete, closed polyhedral mesh.

[0032] 2.2) Based on user requirements, select the mapping rules from basic geometric units to three-dimensional shapes and determine the corresponding input parameters.

[0033] In this embodiment, after determining the mapping rules from basic geometric units to three-dimensional shapes, it is also necessary to determine the corresponding input parameters. In this embodiment, the input parameters mainly include density parameters, curvature parameters, and consistency parameters.

[0034] The density parameter controls the density of sampling points, vertices, or mesh cells on the surface or volume of a model when generating 3D shapes (such as spheres, cylinders, and cubes) from basic geometric units (points, lines, and surfaces). For example, when generating a sphere from a point, the density parameter determines how many triangular faces the sphere is divided into, and this can be determined by user-defined parameters. Curvature and consistency parameters are custom parameters for the triangulation rules. The triangulation rule refers to the process of decomposing a geometric shape (such as a spherical surface) into N triangular faces. The custom parameters for the triangulation rule specify how this decomposition is performed based on user-provided parameters, rather than a standard triangulation analysis algorithm. The curvature parameter is used to refine triangulation in areas of high curvature and sparsely reduce triangulation in flat areas to ensure the smoothness of the 3D shape. The consistency parameter ensures that the triangulation methods of adjacent faces are compatible, avoiding cracks.

[0035] As can be seen, in this embodiment, each mapping rule is bound to a set of parameters. By adjusting the parameters corresponding to the mapping rule, the shape of the generated model can be controlled in real time without having to perform underlying modeling operations again.

[0036] Furthermore, in step 3) above, based on the selected mapping rule type and input parameters, the system automatically calculates and generates all vertex data, patch index data, and normal data of the 3D model; according to preset rules, all vertex data, patch index data, and normal data are connected to finally output a standard 3D mesh model, which is then used for subsequent applications such as rendering and printing.

[0037] Furthermore, step 4) above includes the following steps: 4.1) Determine whether the initial 3D mesh model meets the user's requirements. If not, adjust the basic primitives or corresponding mapping rules and input parameters. 4.2) Based on the adjusted basic geometric primitives or mapping rules and input parameters, re-execute the mapping algorithm to obtain the adjusted 3D mesh model, and output the final 3D mesh model after meeting the user's requirements.

[0038] In this embodiment, by selecting basic geometric units, mapping rules and input parameters, the basic three-dimensional structure required for the three-dimensional model can be automatically generated. Then, the original model of the required three-dimensional model can be realized by manually drawing and stitching.

[0039] Taking a car model as an example, the tire is generated from a point: a cylinder is generated based on a radius parameter, serving as the initial volume of the tire. Simultaneously, a short cylinder is generated along the vehicle's lateral direction, concentric with the front, to simulate the wheel hub. The tire surface is ensured to be smooth based on density parameters. The cylinder is scaled vertically to achieve compression deformation. The chassis and body frame are generated from lines and surfaces. The input chassis centerline is offset vertically to form the chassis bottom outline. Using this outline as a base, it is stretched in different directions to form the body body. The length, width, and height ratio of the cube are adjusted according to the vehicle type. For edge details, a new layer is generated again from the original faces for overlay. Small spheres are added to both sides of the front of the car as headlights. All detailed components are positioned using their corresponding points and lines and automatically aligned with the vehicle's coordinate system.

[0040] Example 2 The above-described embodiment 1 provides a method for constructing a 3D model based on a hierarchical geometric primitive. Correspondingly, this embodiment provides a system for constructing a 3D model based on a hierarchical geometric primitive. The system provided in this embodiment can implement the method for constructing a 3D model based on a hierarchical geometric primitive of embodiment 1. This system can be implemented through software, hardware, or a combination of both. For example, the system may include integrated or separate functional modules or units to execute the corresponding steps in the methods of embodiment 1. Since the system in this embodiment is basically similar to the method embodiment, the description process in this embodiment is relatively simple. Relevant details can be found in the description of embodiment 1. The system embodiment provided in this embodiment is merely illustrative.

[0041] The system for constructing 3D models based on hierarchical geometric primitives provided in this embodiment includes: The input acquisition module is used to generate basic geometric primitives based on user input; The mapping rule and parameter determination module is used to determine the mapping rule type and input parameters based on the generated basic geometric primitives. The model creation module is used to automatically execute a mapping algorithm to generate an initial 3D mesh model based on a defined mapping rule type and input parameters. The model adjustment module is used to adjust and optimize the initial 3D mesh model according to user needs, so as to obtain the final 3D mesh model for rendering, printing, etc.

[0042] Example 3 This embodiment provides a processing device corresponding to the method for constructing a three-dimensional model based on the hierarchical arrangement of geometric primitives provided in Embodiment 1. The processing device can be a client-side processing device, such as a mobile phone, laptop, tablet computer, desktop computer, etc., to execute the method of Embodiment 1.

[0043] The processing device includes a processor, a memory, a communication interface, and a bus. The processor, memory, and communication interface are connected via the bus to communicate with each other. The memory stores a computer program that can run on the processor. When the processor runs the computer program, it executes the method for constructing a three-dimensional model based on the hierarchical arrangement of geometric primitives provided in Embodiment 1.

[0044] Preferably, the memory may be high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage device.

[0045] Preferably, the processor can be any type of general-purpose processor such as a central processing unit (CPU) or a digital signal processor (DSP), and there is no limitation herein.

[0046] Example 4 The method for constructing a three-dimensional model based on the hierarchical arrangement of geometric primitives in Embodiment 1 can be specifically implemented as a computer program product. The computer program product may include a computer-readable storage medium on which computer-readable program instructions are loaded for executing the method for constructing a three-dimensional model based on the hierarchical arrangement of geometric primitives as described in Embodiment 1.

[0047] A computer-readable storage medium can be a tangible device that holds and stores instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof.

[0048] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can 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, etc.) containing computer-usable program code. This 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 block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can 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, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes. These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for constructing a three-dimensional model based on a hierarchy of geometric primitives, characterized in that, The method comprises the following steps: generating basic geometric primitives based on user input; determining mapping rule types and input parameters based on the generated basic geometric primitives; automatically executing a mapping algorithm to generate an initial three-dimensional mesh model based on the determined mapping rule types and input parameters; adjusting and optimizing the initial three-dimensional mesh model according to user requirements to obtain a final three-dimensional mesh model.

2. The method for constructing a three-dimensional model based on geometric primitive hierarchy of claim 1, wherein, The method of generating basic geometric primitives based on user input comprises: generating a point or a point set composed of multiple points based on three-dimensional space coordinate points input by the user; sequentially connecting or circularly connecting a line or a line set composed of multiple lines based on the generated point set according to a preset connection rule; generating a surface or a set of surfaces based on the closed line set or directly generating a surface or a set of surfaces from the point set according to a preset sorting rule.

3. The method for constructing a three-dimensional model based on geometric primitive hierarchy of claim 1, wherein, The method of determining mapping rule types and input parameters based on the generated basic geometric primitives comprises: creating mapping rules of different basic geometric units to three-dimensional shapes; selecting mapping rules of basic geometric units to three-dimensional shapes according to user requirements and determining corresponding input parameters.

4. The method for constructing a three-dimensional model based on geometric primitive hierarchy of claim 3, wherein, The mapping rules of basic geometric units to three-dimensional shapes comprise a mapping rule of points to spheres, a mapping rule of lines to cylinders and a mapping rule of surfaces to cubes; wherein the mapping rule of points to spheres is represented by a center point coordinate P(x, y, z) and a radius parameter r; the mapping rule of lines to cylinders is represented by a line L composed of multiple vertices and a radius parameter r; and the mapping rule of surfaces to cubes is represented by a plane F and a thickness parameter d.

5. The method for constructing a three-dimensional model based on geometric primitive hierarchy of claim 3, wherein, The input parameters comprise a density parameter, a curvature parameter and a consistency parameter; the density parameter is used to control the density of sampling points, vertices or mesh units on the surface or volume of a three-dimensional model generated from basic geometric units; the curvature parameter is used to control the smoothness of the model; and the consistency parameter is used to ensure the compatibility of adjacent surface patches in the model.

6. The method for constructing a three-dimensional model based on geometric primitive hierarchy of claim 1, wherein, The method of automatically executing a mapping algorithm to generate an initial three-dimensional mesh model based on the determined mapping rule types and input parameters comprises: automatically calculating all vertex data, patch index data and normal data of the three-dimensional model according to the determined mapping rule types and input parameters; connecting all vertex data, patch index data and normal data according to a preset rule to form an initial three-dimensional mesh model.

7. The method for constructing a three-dimensional model based on geometric primitive hierarchy of claim 1, wherein, The method of adjusting and optimizing the initial three-dimensional mesh model according to user requirements to obtain a final three-dimensional mesh model comprises: judging whether the initial three-dimensional mesh model meets user requirements, and if not, adjusting the basic set of primitives or the corresponding mapping rules and input parameters; re-executing the mapping algorithm according to the adjusted basic set of primitives or mapping rules and input parameters to obtain an adjusted three-dimensional mesh model, and outputting a final three-dimensional mesh model until the user requirements are met.

8. A system for constructing a three-dimensional model based on a hierarchy of geometric primitives, the system comprising: The method comprises: an input acquisition module for generating basic geometric primitives based on user input; a mapping rule and parameter determination module for determining mapping rule types and input parameters based on the generated basic geometric primitives; A model creating module is configured to automatically execute a mapping algorithm to generate an initial three-dimensional mesh model based on the determined mapping rule type and input parameters; A model adjusting module is configured to adjust and optimize the initial three-dimensional mesh model according to user requirements to obtain a final three-dimensional mesh model.

9. A computer-readable storage medium storing one or more programs, the one or more programs comprising instructions that when executed by a computer cause the computer to perform a method of any of claims 1-8. The one or more programs include instructions that, when executed by a computing device, cause the computing device to perform any of the methods of claims 1-7.

10. A computing device, comprising: Comprise: One or more processors and a memory having one or more programs stored therein and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods of claims 1-7.

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