露台在不同方向产卵10次

Question

我正在做一个项目，我必须在露台模拟中校准一个固定摄像机。首先，生成一个模式，然后用我的固定相机拍摄一些照片，最后，将这些照片发送到matlab

到目前为止，我已经生成了一个棋盘格图案，但是，我的下一步是更改棋盘格的方向（而不是位置），以便拍摄不同的照片

因此，我的方法是在不同的位置和方向上以某种方式产生10倍于此模型（模式）。会是这样的：

-开创露台世界 -繁殖模式位置1 -抹掉这个图案 -繁殖模式位置2 -抹掉这个图案 -....

请问，我如何实现这个代码，以实现我的需求

我也愿意接受其他想法

提前表示感谢和问候

我该怎么做

编辑

我工作，所以我设法创建了这个.py

    import rospy, tf, random, string
from random import randint, uniform
from gazebo_msgs.srv import DeleteModel, SpawnModel
from geometry_msgs.msg import *
import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
import cv2
import os

import captura_patron as captura

bridge = CvBridge()

def image_callback(msg):
    print("Received an image!")
    try:
        # Convert your ROS Image message to OpenCV2
        cv2_img = bridge.imgmsg_to_cv2(msg, "bgr8")
        
    except CvBridgeError, e:
        print(e)
    else:
        # Save your OpenCV2 image as a jpeg 
        #cv2.imwrite(os.path.join(os.path.expanduser('~'),'home','ros-industrial','POPBL','src','python','patron.jpg'), cv2_img)
        cv2.imwrite('camera_image.jpeg'+ str(count), cv2_img)
        
      

def capturador():
   
    # Set up your subscriber and define its callback
    rospy.Subscriber("camera/cal_image", Image, image_callback)
    print("LIXTO")
    # Spin until ctrl + c

if __name__ == '__main__':
    print("Waiting for gazebo services...")
    rospy.init_node("patron_spawn")
    rospy.wait_for_service("gazebo/spawn_sdf_model")
    print("Got it.")
    spawn_patron = rospy.ServiceProxy("gazebo/spawn_sdf_model", SpawnModel)
    srv_delete_model = rospy.ServiceProxy('gazebo/delete_model', DeleteModel)

    with open("/home/ros-industrial/POPBL/src/PAP_TALLER/models/patron/model.sdf", "r") as f:
        box = f.read()
    count = 0
    while count < 1000:
      count = count + 1
      choice = randint(1,3)

      if choice == 1:
        with open("/home/ros-industrial/POPBL/src/PAP_TALLER/models/patron/model.sdf", "r") as f:
          box = f.read()
        

      
      rospy.loginfo("Press any key to spawn a model")
      raw_input()
      Position = Pose()
      orient = tf.transformations.quaternion_from_euler(0,0,0 + random.uniform(-1,1) )
      Position.position.x = 1.3 + random.uniform(-0.1,0.1)
      Position.position.y = -0.5 + random.uniform(-0.1,0.1)
      Position.position.z = 0.8126
      Position.orientation.x = orient[0]
      Position.orientation.y = orient[1]
      Position.orientation.z = orient[2]
      Position.orientation.w = orient[3]
    
      item_name = "patron" + str(count)

      

      print("Spawning model:", item_name)
      spawn_patron(item_name, box, '', Position, "world")
     
      rospy.sleep(1)

      #execfile('captura_patron.py')
      #captura.main()
      capturador()
      print("PHOTO SAVED")

      rospy.sleep(1)
      res = srv_delete_model(item_name)

现在这个模式产生了10个我想要的，但我有这个问题，在我的目录中保存的图像总是“刷新”，而且，只创建一个图像，而不是每个循环创建一个图像