commit f682ca25cee96cdcef39a91dff4fc5e15d2f358e
Author: wxchen <chenwenxuanhehe@163.com>
Date:   Wed May 10 01:05:08 2023 +0800

    Update 'Home'

diff --git a/Home.md b/Home.md
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+Welcome to the Wiki.
+```python
+#!/usr/bin/env python
+
+import rospy
+from sensor_msgs.msg import Image, PointCloud2, PointField
+from cv_bridge import CvBridge
+import numpy as np
+import open3d as o3d
+
+from std_msgs.msg import Header
+from sensor_msgs.msg import PointCloud2, PointField
+import sensor_msgs.point_cloud2 as pc2
+
+class ImageAndPointCloudProcessor:
+    def __init__(self):
+        self.bridge = CvBridge()
+        self.image_sub = rospy.Subscriber('/camera/color/image_raw', Image, self.image_callback)
+        self.pointcloud_sub = rospy.Subscriber('/camera/depth/color/points', PointCloud2, self.pointcloud_callback)
+        self.pointcloud_pub = rospy.Publisher('/custom/pointcloud', PointCloud2, queue_size=10)
+        self.box = [0, 0, 640, 480]  # default box
+        self.camera_intrinsics = None
+
+    def image_callback(self, msg):
+        try:
+            cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+        except Exception as e:
+            rospy.logerr(e)
+            return
+
+        # Crop image
+        xmin, ymin, xmax, ymax = self.box
+        cropped_image = cv_image[ymin:ymax, xmin:xmax]
+
+        # Process cropped image here
+        # ...
+
+    def pointcloud_callback(self, msg):
+        if self.camera_intrinsics is None:
+            self.camera_intrinsics = np.array([msg.height, msg.width, 1])
+            for p in msg.fields:
+                if p.name == 'x':
+                    self.camera_intrinsics[2] = p.count
+
+        try:
+            pointcloud = o3d.geometry.PointCloud()
+            pointcloud.points = o3d.utility.Vector3dVector(np.array(list(msg.data)).reshape(-1, 4)[:, :3])
+        except Exception as e:
+            rospy.logerr(e)
+            return
+
+        # Crop pointcloud
+        xmin, ymin, xmax, ymax = self.box
+        x_indices = np.logical_and(pointcloud.points[:, 0] >= xmin, pointcloud.points[:, 0] < xmax)
+        y_indices = np.logical_and(pointcloud.points[:, 1] >= ymin, pointcloud.points[:, 1] < ymax)
+        indices = np.logical_and(x_indices, y_indices)
+        pointcloud_cropped = pointcloud.select_by_index(np.where(indices)[0])
+
+        # Plane fitting
+        plane_model, inliers = pointcloud_cropped.segment_plane(distance_threshold=0.01, ransac_n=3)
+        inlier_cloud = pointcloud_cropped.select_by_index(inliers)
+        outlier_cloud = pointcloud_cropped.select_by_index(inliers, invert=True)
+
+        # Output rotation angle
+        plane_normal = np.array(plane_model[:3])
+        z_axis = np.array([0, 0, 1])
+        rotation_axis = np.cross(z_axis, plane_normal)
+        rotation_angle = np.arccos(np.dot(z_axis, plane_normal) / (np.linalg.norm(z_axis) * np.linalg.norm(plane_normal)))
+        rotation_euler = np.array([rotation_angle, rotation_axis[0], rotation_axis[1], rotation_axis[2]])
+
+        # Publish red pointcloud for the plane
+        header = Header()
+        header.stamp = rospy.Time.now()
+        header.frame_id = "camera_depth_optical_frame"
+        fields = [PointField('x', 0, PointField.FLOAT32, 1),
+                  PointField('y', 4, PointField.FLOAT32, 1),
+                  PointField('z', 8, PointField.FLOAT32, 1),
+                  PointField('rgb', 12, PointField.FLOAT32, 1)]
+        
+        # Create a list of points representing the plane
+        plane_points = []
+        for p in inlier_cloud.points:
+            plane_points.append([p[0], p[1], p[2], np.float32(0xff0000)])
+        
+        # Create and publish the pointcloud message
+        msg = pc2.create_cloud(header, fields, plane_points)
+        self.pointcloud_pub.publish(msg)
+
+def main():
+    rospy.init_node('image_and_pointcloud_processor')
+    processor = ImageAndPointCloudProcessor()
+    processor.box = [200, 200, 440, 320]  # example box
+    rospy.spin()
+
+if __name__ == '__main__':
+    main()
+```
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