Experimental device and method for vision measurement of poses of various software drivers

Abstract

The invention discloses an experimental device and method for pose vision measurement of multiple types of soft drivers, and belongs to the field of soft vision measurement. The base and the top plate are connected through the first stand column and the second stand column, the plane clamping base is installed on the upper surface of the base, the side clamping base and the side camera base are installed on the side faces of the stand columns, and the first magnetic clamping plate and the second magnetic clamping plate are installed on the upper surface of the top plate. According to the vision measurement method, through extraction of the coordinates of the mark points and extraction of the overall contour of the soft driver, screening of the bending contour of the soft driver is achieved through coordinate system conversion, and then accurate extraction of bending data of the soft driver is achieved. A stable and reliable placing and fixing device is provided for measurement of the soft driver, the placing positions of the soft driver and the camera can be flexibly adjusted, and the device is simple in structure and convenient to assemble; the vision measurement method is a simple, convenient and rapid soft driver pose measurement strategy, the calculated amount is small, and the pose measurement result is accurate.

Description

Technical Field

[0001] The present invention designs an experimental device for visual measurement of software driver posture, which is suitable for research experiments on software driver posture measurement using a monocular or binocular camera. Through the coordinate recognition and contour extraction method of specific landmark points, the accurate extraction of software driver posture and curvature is achieved. The present invention mainly belongs to the field of software visual measurement. Background Art

[0002] With the continuous advancement of science and technology, the field of soft robots has developed rapidly. As the core component of soft robots, the performance and control accuracy of soft actuators play a vital role in the overall working effect of soft robots. Soft actuators have high flexibility, strong adaptability and high safety, and can complete various tasks in complex and changeable environments, such as minimally invasive surgery in the medical field. Therefore, the research and development of soft actuators has important scientific significance and practical application value. Accurate posture measurement is the basis for achieving precise control of soft actuators. Posture measurement data is also crucial for the performance evaluation and optimization of soft actuators. By detecting and analyzing the posture changes of soft actuators under different working conditions, we can deeply understand their motion characteristics, mechanical properties and reliability. However, due to the flexibility and deformability of its materials, traditional rigid object measurement methods are difficult to apply directly. For the measurement of soft actuators, contact measurement and non-contact measurement are currently common. Since contact measurement may physically interfere with the soft actuator and change the original performance of the actuator, non-contact measurement is currently the most commonly used measurement method. Among them, visual measurement is one of the common non-contact measurement methods that is efficient, simple and repeatable. The present invention proposes an experimental device and method for visual measurement of the posture of a soft drive. The device can be used for measuring soft drives of different structures. The soft drive is fixed at a specified position by a knob. The placement of a measuring camera and the ambient brightness are adjusted according to changes in the measuring environment to achieve accurate measurement of the posture of the soft drive. The measurement method can obtain accurate screening of the curved parts of the soft drive by extracting the coordinates of the landmark points and the overall contour of the soft drive, successfully meeting the research needs for soft drive measurement and having high value in solving the problem of soft drive posture measurement. Summary of the invention

[0003] The technical problem to be solved by the present invention is to design an experimental device and method for visual measurement of the position and posture of a software driver, which is simple and reliable to operate and can be used to conveniently and accurately realize the position and posture extraction of the software driver.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] An experimental device for visual measurement of the position and posture of a soft drive comprises a base, a top plate, a first column, a second column, a plane clamping base, a side bottom plate, a side clamping base, a side camera base, a first magnetic clamping plate, a second magnetic clamping plate, a plane clamping knob, a side clamping knob, a soft drive, and a camera.

[0006] The base is the supporting base of the whole device, the first column is repeatedly installed in the threaded holes at the lower left, upper left and upper right corners of the base through bolt connection, and the second column is installed in the threaded hole at the lower right corner of the base through bolt connection.

[0007] The top plate is installed at the top of the whole device, and is installed in the threaded holes on the upper surfaces of the first column and the second column by bolt connection. The shorter side of the top plate is parallel to the shorter side of the base, and the longer side of the top plate is parallel to the longer side of the base. The above assembly process forms the external support frame of the experimental device.

[0008] The plane clamping base is installed in the corresponding threaded hole on the left upper surface of the base through bolt connection. The plane clamping knob is symmetrically installed in the threaded holes on both sides of the plane clamping base through thread connection.

[0009] The side bottom plate is installed in the corresponding threaded holes on the right side surfaces of the first column at the lower left corner and the first column at the upper left corner by bolt connection. The side clamping base is installed in the corresponding threaded hole in the middle of the side bottom plate by bolt connection. The side clamping knob is installed in the threaded hole above the side clamping base by thread connection.

[0010] The side camera base is installed in the sliding guide rail in the middle of the second column through bolt connection.

[0011] The first magnetic clamp is adsorbed on the left and right sides of the upper surface of the top plate through the magnetic attraction function, and the second magnetic clamp is adsorbed on the upper part of the upper surface of the top plate through the magnetic attraction function.

[0012] The soft drive has two different placement methods. One is to place the soft drive plane on the upper surface of the base, and place the initial section of the soft drive inside the plane clamping base, and fix the soft drive on the two-dimensional plane by adjusting the tightness of the plane clamping knob; the other is to place the soft drive inside the side clamping base, and fix the soft drive on the vertical plane by adjusting the tightness of the side clamping knob.

[0013] The camera has two different placement methods, one is to place the camera in the groove in the middle of the top plate, place the camera to the corresponding position according to the shape of the groove, and adjust the position of the camera in the groove to achieve the best shooting position; the other is to place the camera in the groove on the upper surface of the left half of the side camera base, and adjust the position of the camera in the groove to achieve the best shooting position. Both of the above camera placement methods can achieve flexible adjustment of the camera position, and fix the camera position by the camera's own gravity. The curtain can be fixed to the upper surface of the top plate by the first magnetic clamp and the second magnetic clamp. The color, size and position of the curtain can be adjusted according to environmental requirements. The curtain is an additional device of the experimental device, and whether to use it can be determined according to experimental conditions.

[0014] A visual measurement method for extracting the posture of a soft drive comprises the following steps: placing the soft drive, fixing the soft drive, pressurizing the soft drive, placing marker points, placing a camera, adjusting the environment, acquiring images, processing images and extracting data.

[0015] The placement of the soft drive is to place the soft drive at a suitable position in the plane clamping device or the side clamping device according to the measurement requirements; the fixing of the soft drive is to adjust the clamping knob to a suitable position to ensure the fixing of the soft drive and prevent displacement of the soft drive during the subsequent pressurization process.

[0016] The soft driver pressurization refers to pressurizing the soft start driver to a specified air pressure through a gas pressurizing device, so that the soft start driver generates bending deformation under the action of the air pressure difference.

[0017] The placement of the marking points is to place two circular marking point stickers of the same color and size at the starting point and the ending point of the bending respectively according to the location where the software driver is bent.

[0018] The camera placement refers to placing the shooting camera at a suitable position in the top camera groove or the side camera base groove according to the measurement requirements, ensuring that the camera can completely shoot the software driver and the landmark points; the environmental adjustment refers to adjusting the color, size and placement of the screen according to the environmental conditions to ensure that the camera's shooting effect can meet the experimental requirements.

[0019] The image acquisition refers to the acquisition of images by controlling the camera shooting function through a computer; the image processing refers to the image processing of the specified image through a computer after the image acquisition is completed; the data extraction refers to the extraction of the coordinates of the landmark points and the bending contour and other posture information of the software driver after the image processing of the acquired image.

[0020] The image processing method of the present invention processes the image captured by a monocular / binocular camera, and realizes the extraction of the posture data of the software driver through the python language and the relevant functions of the OpenCV library. Circular marker points are pasted on the bending start and end ends of the software driver to be tested, and the center coordinates of the two marker points are extracted by shooting the bending image of the software driver with the marker points, using RGB and HSV color conversion, setting a suitable HSV threshold; after completing the marker extraction, the overall outer contour of the software driver is extracted by using the flood filling algorithm; according to the coordinates of the marker points at the starting end and the end end, the outer contour of the software driver is screened to extract the outer contour of the curved part; the slope of the line connecting the center coordinates of the two marker points is calculated, and the coordinates of the contour point coordinates of the curved part of the software driver are converted, and the line between the two marker points is converted to the horizontal X-axis direction; and the density-based clustering algorithm DBSCAN is used to eliminate outliers in the data, and the function of manually proposing noise points is set to ensure the accuracy of the extracted data; the accurate extraction of the curved contour is realized by projecting perpendicular to the line.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] (1) Two placement methods are set for different states of the soft robot. The plane clamping base can fix the position of the soft driver in the plane direction to avoid vertical displacement, which is suitable for shooting through the camera on the top plate, and the plane clamping base can fix the soft driver by adjusting the plane base clamping knobs on both sides, which is suitable for fixing soft drivers of different structures, shapes and sizes; the side clamping base can fix the initial end of the soft driver, which is suitable for shooting through the camera of the side camera base, and the side clamping base can fix the soft driver by adjusting the upper side clamping knob, which is suitable for fixing soft drivers of different structures, shapes and sizes, and can adjust the insertion depth of the soft driver. The above two placement methods of the soft driver can achieve real-time fixation during the experiment. The plane clamping base and the side clamping base both reserve the position of the air inlet pipe, which can achieve shooting during the gas pressurization test.

[0023] (2) The second column adopts a sliding guide rail design similar to an I-beam structure. By adjusting the position of the fixing bolt on the left side of the side camera base, the side camera base can be infinitely adjusted in the vertical direction, making the camera position adjustment easier and faster. The side camera base groove and the top plate camera groove are both enlarged and extended, which can provide a suitable installation position for most single / binocular cameras on the market and can achieve infinite adjustment of the horizontal position, which can effectively reduce the difficulty of camera position adjustment and realize real-time adjustment of the camera position during shooting.

[0024] (3) The first magnetic clamp and the second magnetic clamp can be used to install a screen on the upper surface of the top plate. The use of the screen can adjust factors such as the ambient light of the camera shooting environment. The present invention uses magnetic suction to fix the clamp, which greatly improves the flexibility and versatility of the clamping function of the clamp. The position of the first magnetic clamp and the second magnetic clamp can be adjusted arbitrarily according to experimental requirements, and the clamping process of the magnetic clamp will not cause physical damage to the screen. It has the characteristics of simple, convenient and flexible adjustment.

[0025] (4) The software driver posture measurement method adopted by the present invention only needs to paste two marking points to realize the posture measurement of the software driver in different states, and the operation is simple; it is applicable to software drivers of various different structures and has a wide range of applications; in addition, the number of marking points pasted is small, which greatly reduces the algorithm processing amount of the image processing process, making the measurement process faster.

[0026] In short, the use of this software driver posture visual measurement test bench can not only realize the fixation and adjustment of the software driver in different positions to ensure the reliable and stable position of the software driver, but also realize different placement of the camera position according to different requirements to complete shooting tasks at different angles; by posting two marking points at the designated position, the posture measurement and data extraction of the software driver in different states can be realized, the measurement results are accurate, and the measurement process is simple and fast. This device has a rigorous structure and is easy to install. Using this device to perform visual measurement of the posture of the software driver is reliable and stable to install, simple and easy to operate, and highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] With reference to the accompanying drawings, further objects, functions and advantages of the present invention will be clarified through the following description of embodiments of the present invention, in which:

[0028] Figure 1 The schematic diagram shows the structure of the experimental device for visual measurement of the soft actuator's posture;

[0029] Figure 2 The schematic diagram of the overall scheme flow of the visual processing algorithm in the present invention is shown;

[0030] Figure 3 Schematic diagram showing the principle of obtaining curve contour using the two-point projection method DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0032] The present invention proposes an experimental device and a measurement method for visual measurement of the position and posture of a software driver. The structure of the experimental device is as follows: Figure 1As shown, the device includes a base 1, a top plate 2, a first column 3-1, a second column 3-2, a plane clamping base 4, a side bottom plate 5, a side clamping base 6, a side camera base 7, a first magnetic clamping plate 8-1, a second magnetic clamping plate 8-2, a plane clamping knob 9, a side clamping knob 10, a software driver 11, and a camera 12;

[0033] Unless otherwise specified, the quantity of the above parts is 1 piece;

[0034] Connections between the various parts that make up the device:

[0035] The bottom plate 1 is the bottom support of the whole experimental device. There are three first columns 3-1, which are respectively installed in the threaded holes corresponding to the lower left corner, upper left corner and upper right corner of the bottom plate 1. The second column 3-2 is installed in the threaded hole at the lower right corner of the bottom plate 1.

[0036] The top plate 2 has the same outer contour shape as the bottom plate 1 and is installed in the threaded holes on the upper surfaces of the first column 3-1 and the second column 3-2;

[0037] The plane clamping base 4 is installed in the corresponding threaded hole on the left side of the base 1;

[0038] The side bottom plate 5 is installed in the threaded holes on the right side surface of the first column 3-1 at the lower left corner and the upper left corner of the base 1;

[0039] The side clamping base 6 is installed in the corresponding threaded hole on the right side surface of the side bottom plate 5;

[0040] The side camera base 7 is installed on the slide rail surface of the front side surface of the second column 3-2, and is connected by bolts and nuts. The position of the side camera base 7 can be infinitely adjusted within a limited range and can be fixed at a designated position.

[0041] There are two first magnetic clamps 8-1, which are placed on the left and right sides of the upper surface of the top plate 2; the second magnetic clamp 8-2 is placed on the upper side of the upper surface of the top plate 2; the first magnetic clamp 8-1 and the second magnetic clamp 8-2 are adsorbed on the upper surface of the top plate 2, without fixed positions, and the positions of the first magnetic clamp 8-1 and the second magnetic clamp 8-2 can be flexibly adjusted according to needs;

[0042] There are two plane clamping knobs 9, which are installed in the corresponding threaded holes on the left and right sides of the plane clamping base 4; the side clamping knobs 10 are installed in the corresponding threaded holes on the upper surface of the side clamping base 6; the plane clamping knobs 9 and the side clamping knobs 10 are adjustable parts, which can be flexibly adjusted according to the size and position of the soft driver 11 to ensure that the position of the soft driver 11 is fixed;

[0043] The soft driver 11 is a piece to be measured of the overall experimental device, and has no fixed shape and size. According to the experimental requirements, the soft driver 11 can be placed in the plane clamping base 4 or the side clamping base 6;

[0044] The camera 12 is a tool component for collecting images, and has no fixed shape and size. According to experimental requirements, the camera 12 can be placed in a corresponding groove of the top plate 2 or the side camera base 7;

[0045] The software driver posture visual measurement algorithm proposed by the present invention comprises the following steps:

[0046] Use the camera to capture images including the software driver and the landmarks. If the camera type is a monocular camera, the camera screen is recorded as P0. If the camera type is a binocular camera, the left and right screens of the camera are recorded as P1 and P2 respectively.

[0047] The image processing algorithm in the present invention processes the above-mentioned P0, P1 and P2 respectively;

[0048] First, obtain the image information to be processed. If the shooting camera type is a monocular camera, directly process the camera screen P0; if the shooting camera type is a binocular camera, the camera screen needs to be split into P1 and P2, and each needs to be processed separately; in the subsequent description, P0, P1, and P2 are collectively referred to as P;

[0049] The image P is filtered by using Gaussian filtering and mean filtering algorithms, which effectively reduces the noise in the image P, eliminates the overly subtle details in the image P, makes the image P smoother, and improves the readability of the image and the accuracy of subsequent analysis;

[0050] The image P is converted from RGB color space to HSV color space through cv2.cvtColor color space conversion algorithm; the upper and lower thresholds of H, S, and V for image screening in HSV color space are set according to the color and brightness of the marker points;

[0051] The image part within the threshold range is extracted by cv2.inRange threshold extraction algorithm to obtain the specific positions of the two landmarks.

[0052] Remove the noise in image P through cv.morphologyEx morphological algorithm;

[0053] The outer contour edges of the two marker points in the image P are extracted by the cv2.Canny edge detection algorithm; the specific coordinate information of the outer contours of the two marker points is found by the cv2.findContours contour search algorithm, and the center coordinates of the two coordinate points are calculated. The pixel coordinates of the first coordinate point and the second coordinate point are recorded as (X1, Y1) and (X2, Y2) respectively;

[0054] The area occupied by the soft drive in the image P is found by using the cv2.floodFill flood filling algorithm; the outer contour of the whole soft drive is extracted by using the cv2.findCoutours contour search algorithm;

[0055] Calculate the relative positions of the marker points (X1, Y1) and (X2, Y2), and let the angle between the line connecting the two points and the u-axis of the horizontal pixel coordinate system be θ, then we have

[0056] The coordinate axes of the pixel coordinate system are ν and u respectively, the coordinate system with the mark point (X1, Y1) as the coordinate origin, the line connecting the mark points (X1, Y1) and (X2, Y2) as the X axis, and the vertical direction of the connecting line as the Y axis is recorded as the software coordinate system;

[0057] Then the conversion relationship between the pixel coordinate system and the software coordinate system is

[0058]

[0059] The coordinates of the overall contour points of the bending part of the software driver are transformed as above, with a step length of 1 pixel point, starting from the starting point of the bending part, traversing the coordinate information of each pixel point, and obtaining the contour projection of the software driver in a certain direction; the extracted contour point coordinate information is again subjected to reverse coordinate transformation to obtain the coordinate information in the original image P pixel coordinate system;

[0060] The ε neighborhood of the coordinate point, the core point ρ, etc. are calculated, and the outliers in the extracted data are screened out through the density-based clustering algorithm DBSCAN algorithm;

[0061] Where N ε (p)={q∈D|d(p,q)≤ε},N ε (p) is the ε neighborhood of point p, d(p,q) is the distance between point p and point q; where |N ε (p)|≥min_samples,|N ε (p)| is the number of points in the ε-domain of point p, min_samples is the user-defined minimum sample number threshold;

[0062] The cv2.EVENT_LBUTTONDOWN and cv2.ENENT_MOUSEMOVE functions are used to extract the mouse position. According to the position selected by the mouse, the data value of the selected area is removed to realize the function of manually removing noise points. Finally, the coordinate point position information is exported to an external file through the pandas.DataFrame function for subsequent processing.

Claims

1. An experimental device for visual measurement of software driver posture, characterized by: include: Base (1), top plate (2), first column (3-1), second column (3-2), plane clamping base (4), side bottom plate (5), side clamping base (6), side camera base (7), first magnetic clamping plate (8-1), second magnetic clamping plate (8-2), plane clamping knob (9), side clamping knob (10), software driver (11), camera (12); The bottom plate (1) is a bottom support member, and the first columns (3-1) are three in total, which are respectively installed in threaded holes corresponding to the lower left corner, upper left corner and upper right corner of the bottom plate (1); the second column (3-2) is installed in the threaded hole at the lower right corner of the bottom plate (1); The top plate (2) has the same outer contour shape as the bottom plate (1) and is installed in the threaded holes on the upper surfaces of the first column (3-1) and the second column (3-2); The plane clamping base (4) is installed in the corresponding threaded hole on the left side of the base (1); The side bottom plate (5) is installed in the threaded holes on the right side surface of the first column (3-1) at the lower left corner and the upper left corner of the base (1); The side clamping base (6) is installed in the corresponding threaded hole on the right side surface of the side bottom plate (5); The side camera base (7) is mounted on the slide rail surface of the front side surface of the second column (3-2) and is connected by bolts and nuts to achieve infinite position adjustment of the side camera base (7) within a limited range and fix it at a designated position; The first magnetic clamping plate (8-1) comprises two pieces, which are placed on the left and right sides of the upper surface of the top plate (2); the second magnetic clamping plate (8-2) is placed on the upper side of the upper surface of the top plate (2); the first magnetic clamping plate (8-1) and the second magnetic clamping plate (8-2) are adsorbed on the upper surface of the top plate (2); The plane clamping knob (9) comprises two pieces, which are installed in corresponding threaded holes on the left and right sides of the plane clamping base (4); the side clamping knob (10) is installed in corresponding threaded holes on the upper surface of the side clamping base (6); the plane clamping knob (9) and the side clamping knob (10) are adjustable parts, which can be flexibly adjusted according to the size and position of the soft driver (11) to ensure that the position of the soft driver (11) is fixed; The soft driver (11) is a piece to be measured of the overall experimental device, and has no fixed shape and size. According to experimental requirements, the soft driver (11) is placed in a plane clamping base (4) or a side clamping base (6); The camera (12) is a tool component for collecting images and has no fixed shape and size. According to experimental requirements, the camera (12) is placed in a corresponding groove of the top plate (2) or the side camera base (7).

2. A visual measurement method for realizing the experimental device for visual measurement of software driver posture as claimed in claim 1, characterized in that: Using the camera (12) described in claim 1, take a posture state picture P of the software driver, and perform the following image processing steps on the picture P to obtain the curvature and curvature profile of the software driver; The image P is filtered by using Gaussian filtering and mean filtering algorithms, which effectively reduces the noise in the image P, eliminates the overly subtle details in the image P, makes the image P smoother, and improves the readability of the image and the accuracy of subsequent analysis; The software driver and environment image in the image P are converted from the RGB color space to the HSV color space through the cv2.cvtColor color space conversion algorithm; the upper and lower thresholds of H, S, and V for image screening in the HSV color space are set according to the color and brightness of the marker points; The image portion within the threshold range is extracted by using the cv2.inRange threshold extraction algorithm to obtain the location information of the two marking points posted on the soft drive (11) in claim 1; The outer contour edges of the two marker points are extracted by the cv2.Canny edge detection algorithm; the specific coordinate information of the outer contours of the two marker points is obtained by the cv2.findContours contour search algorithm, and the center coordinates of the two coordinate points are calculated. The pixel coordinates of the first coordinate point and the second coordinate point are recorded as (X1, Y1) and (X2, Y2) respectively; The area occupied by the software driver (11) in claim 1 in the image P is found by using the cv2.floodFill flood filling algorithm; the outer contour of the entire software driver (11) is extracted by using the cv2.findCoutours contour search algorithm; Calculate the relative positions of the marker points (x1, y1) and (x2, y2), and let the angle between the line connecting the two marker points and the u axis of the horizontal pixel coordinate system be θ, then we have Wherein, x1 and y1 are respectively the X coordinate and Y coordinate of the first marker point in the pixel coordinate system, x2 and y2 are respectively the X coordinate and Y coordinate of the second marker point in the pixel coordinate system, sinθ is the sine value of the angle between the line connecting the two marker points and the horizontal pixel coordinate axis, and cosθ is the cosine value of the angle between the line connecting the two marker points and the horizontal pixel coordinate axis; Let the horizontal and vertical coordinates of a point in the pixel coordinate system be u and ν respectively, let the horizontal and vertical coordinates of the point after rotation be x2 and y2 respectively, then the conversion relationship between the two coordinate systems before and after the conversion is The coordinates of the overall contour points of the curved part of the soft driver are transformed as above, with a step length of 1 pixel point, starting from the first mark point, and traversing the coordinate information of each pixel point, the contour projection of the soft driver in a certain direction can be obtained; the extracted contour point coordinate information is again subjected to reverse coordinate transformation to obtain the coordinate information in the original image P pixel coordinate system; The ε neighborhood of the coordinate point and the core point ρ are calculated, and the outliers in the extracted data are screened out by the density-based clustering algorithm DBSCAN algorithm; Where N ε (p)={q∈D|d(p,q)≤ε} Where N ε (p) is the ε neighborhood of point p, d(p,q) is the distance between point p and point q; where N ε (p)|≥min_samples,|N ε (p)| is the number of points in the ε-domain of point p, min_samples is the user-defined minimum sample number threshold; The cv2.EVENT_LBUTTONDOWN and cv2.ENENT_MOUSEMOVE functions are used to extract the mouse position. According to the position selected by the mouse, the data value of the selected area is removed to realize the function of manually removing noise points. Finally, the coordinate point position information is exported to an external file through the pandas.DataFrame function.

3. The experimental device for visual measurement of software driver posture according to claim 1, characterized in that: The invention comprises two soft drive placement devices with different functions, namely a plane clamping base (4) and a side clamping base (6), which are suitable for placing and fixing soft drives in different postures; and comprises two camera placement devices, namely a groove of a top plate (2) and a side camera base (7), and the side camera base (7) can be steplessly adjusted in position on a second column (3-2) according to requirements.

4. The visual measurement method according to claim 2, characterized in that: The visual measurement method has a low requirement for the number of marker points, and at least two marker points are required to extract the curved contour of the soft drive; the image processing algorithm realizes the screening of the contour of the soft drive through marker point extraction, coordinate system transformation and single-direction projection method, and the method for extracting the curved contour of the soft drive includes the functions of outlier removal and manual selection of noise removal; It is suitable for the pose measurement of soft actuators with most different structural shapes.

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