import glob
import os
import sys
import time
import math
import threading
import cv2
import numpy as np

try:
    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
        sys.version_info.major,
        sys.version_info.minor,
        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
    pass

import carla


def get_actor_display_name(actor):
    name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
    return name


actor_list = []
IM_WIDTH = 640
IM_HEIGHT = 480


def number_of_vehicle():
    all_vehicles = world.get_actors().filter('vehicle.*')
    threading.Timer(0.1, number_of_vehicle).start()
    transform_location = dropped_vehicle.get_transform()

    if len(all_vehicles) > 1:
        distance = lambda data: math.sqrt(
            (data.x - transform_location.location.x) ** 2 + (data.y - transform_location.location.y) ** 2 + (
                    data.z - transform_location.location.z) ** 2)

        get_distance_of_bot_vehicles = []
        for each_car in all_vehicles:
            if each_car.id != world.id:
                get_distance_of_bot_vehicles.append((distance(each_car.get_location()), each_car))

        vehicle_data = {}
        final_vehicle_result = []

        sorted_vehicles = sorted(get_distance_of_bot_vehicles)

        for distance_of_car, vehicle in sorted_vehicles:
            if distance_of_car > 200.0:
                break
            vehicle_type = get_actor_display_name(vehicle)
            vehicle_data['vehicle_name'] = vehicle_type
            vehicle_data['distance'] = distance_of_car
            final_vehicle_result.append(vehicle_data)

            for distance_in_meter in final_vehicle_result:
                if distance_in_meter['distance'] > 6 and distance_in_meter['distance'] < 10:
                    print()
                    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.2))
                    time.sleep(3)
                    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.2, steer=-0.2))
                    time.sleep(2)
                    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.2, steer=0.1))
                    time.sleep(2)
                    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.2))
                    time.sleep(3)
                    car_control()
                if distance_in_meter['distance'] > 1 and distance_in_meter['distance'] < 5:
                    print("Close car")
                    dropped_vehicle.apply_control(carla.VehicleControl(hand_brake=True))
                    time.sleep(2)
                    car_control()


def image(image):
    matrix_representational_data = np.array(image.raw_data)
    reshape_of_image = matrix_representational_data.reshape((IM_HEIGHT, IM_WIDTH, 4))
    live_feed_from_camera = reshape_of_image[:, :, :3]
    cv2.imshow("", live_feed_from_camera)
    cv2.waitKey(1)
    return


# camera sensor, width, height and fov
def camera(get_blueprint_of_world):
    camera_sensor = get_blueprint_of_world.find('sensor.camera.rgb')
    camera_sensor.set_attribute('image_size_x', f'{IM_WIDTH}')
    camera_sensor.set_attribute('image_size_y', f'{IM_HEIGHT}')
    camera_sensor.set_attribute('fov', '70')
    return camera_sensor


def car_control():
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.35))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.VehicleLightState.LowBeam ))
    time.sleep(6)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.45, steer=1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.VehicleLightState.RightBlinker | carla.VehicleLightState.LowBeam))
    time.sleep(5)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.7, steer=-1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.VehicleLightState.All))
    time.sleep(5)



try:
    client = carla.Client('127.0.0.1', 2000)
    client.set_timeout(10.0)
    world = client.get_world()

    get_blueprint_of_world = world.get_blueprint_library()
    car_model = get_blueprint_of_world.filter('police_car')[0]
    spawn_point = (world.get_map().get_spawn_points()[0])
    dropped_vehicle = world.spawn_actor(car_model, spawn_point)

    simulator_camera_location_rotation = carla.Transform(spawn_point.location, spawn_point.rotation)
    simulator_camera_location_rotation.location += spawn_point.get_forward_vector() * 30
    simulator_camera_location_rotation.rotation.yaw += 180
    simulator_camera_view = world.get_spectator()
    simulator_camera_view.set_transform(simulator_camera_location_rotation)
    actor_list.append(dropped_vehicle)

    camera_sensor = camera(get_blueprint_of_world)
    sensor_camera_spawn_point = carla.Transform(carla.Location(x=-11.5, z=4.7, y=1.2))
    sensor = world.spawn_actor(camera_sensor, sensor_camera_spawn_point, attach_to=dropped_vehicle)
    sensor.listen(lambda camera_data: image(camera_data))
    actor_list.append(sensor)

    number_of_vehicle()
    car_control()
    time.sleep(1000)
finally:
    print('destroying actors')
    for actor in actor_list:
        actor.destroy()
    print('done.')
35a4e1e7396051d082e5fa56686dd51839dadb9d
<mask token>


def get_actor_display_name(actor):
    name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
    return name


<mask token>


def image(image):
    matrix_representational_data = np.array(image.raw_data)
    reshape_of_image = matrix_representational_data.reshape((IM_HEIGHT,
        IM_WIDTH, 4))
    live_feed_from_camera = reshape_of_image[:, :, :3]
    cv2.imshow('', live_feed_from_camera)
    cv2.waitKey(1)
    return


def camera(get_blueprint_of_world):
    camera_sensor = get_blueprint_of_world.find('sensor.camera.rgb')
    camera_sensor.set_attribute('image_size_x', f'{IM_WIDTH}')
    camera_sensor.set_attribute('image_size_y', f'{IM_HEIGHT}')
    camera_sensor.set_attribute('fov', '70')
    return camera_sensor


def car_control():
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.35))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.LowBeam))
    time.sleep(6)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.45, steer=1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.RightBlinker | carla.VehicleLightState.LowBeam))
    time.sleep(5)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.7, steer=-1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.All))
    time.sleep(5)


<mask token>

<mask token>
try:
    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (sys.
        version_info.major, sys.version_info.minor, 'win-amd64' if os.name ==
        'nt' else 'linux-x86_64'))[0])
except IndexError:
    pass
<mask token>


def get_actor_display_name(actor):
    name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
    return name


<mask token>


def number_of_vehicle():
    all_vehicles = world.get_actors().filter('vehicle.*')
    threading.Timer(0.1, number_of_vehicle).start()
    transform_location = dropped_vehicle.get_transform()
    if len(all_vehicles) > 1:
        distance = lambda data: math.sqrt((data.x - transform_location.
            location.x) ** 2 + (data.y - transform_location.location.y) ** 
            2 + (data.z - transform_location.location.z) ** 2)
        get_distance_of_bot_vehicles = []
        for each_car in all_vehicles:
            if each_car.id != world.id:
                get_distance_of_bot_vehicles.append((distance(each_car.
                    get_location()), each_car))
        vehicle_data = {}
        final_vehicle_result = []
        sorted_vehicles = sorted(get_distance_of_bot_vehicles)
        for distance_of_car, vehicle in sorted_vehicles:
            if distance_of_car > 200.0:
                break
            vehicle_type = get_actor_display_name(vehicle)
            vehicle_data['vehicle_name'] = vehicle_type
            vehicle_data['distance'] = distance_of_car
            final_vehicle_result.append(vehicle_data)
            for distance_in_meter in final_vehicle_result:
                if distance_in_meter['distance'] > 6 and distance_in_meter[
                    'distance'] < 10:
                    print()
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2))
                    time.sleep(3)
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2, steer=-0.2))
                    time.sleep(2)
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2, steer=0.1))
                    time.sleep(2)
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2))
                    time.sleep(3)
                    car_control()
                if distance_in_meter['distance'] > 1 and distance_in_meter[
                    'distance'] < 5:
                    print('Close car')
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        hand_brake=True))
                    time.sleep(2)
                    car_control()


def image(image):
    matrix_representational_data = np.array(image.raw_data)
    reshape_of_image = matrix_representational_data.reshape((IM_HEIGHT,
        IM_WIDTH, 4))
    live_feed_from_camera = reshape_of_image[:, :, :3]
    cv2.imshow('', live_feed_from_camera)
    cv2.waitKey(1)
    return


def camera(get_blueprint_of_world):
    camera_sensor = get_blueprint_of_world.find('sensor.camera.rgb')
    camera_sensor.set_attribute('image_size_x', f'{IM_WIDTH}')
    camera_sensor.set_attribute('image_size_y', f'{IM_HEIGHT}')
    camera_sensor.set_attribute('fov', '70')
    return camera_sensor


def car_control():
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.35))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.LowBeam))
    time.sleep(6)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.45, steer=1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.RightBlinker | carla.VehicleLightState.LowBeam))
    time.sleep(5)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.7, steer=-1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.All))
    time.sleep(5)


try:
    client = carla.Client('127.0.0.1', 2000)
    client.set_timeout(10.0)
    world = client.get_world()
    get_blueprint_of_world = world.get_blueprint_library()
    car_model = get_blueprint_of_world.filter('police_car')[0]
    spawn_point = world.get_map().get_spawn_points()[0]
    dropped_vehicle = world.spawn_actor(car_model, spawn_point)
    simulator_camera_location_rotation = carla.Transform(spawn_point.
        location, spawn_point.rotation)
    simulator_camera_location_rotation.location += (spawn_point.
        get_forward_vector() * 30)
    simulator_camera_location_rotation.rotation.yaw += 180
    simulator_camera_view = world.get_spectator()
    simulator_camera_view.set_transform(simulator_camera_location_rotation)
    actor_list.append(dropped_vehicle)
    camera_sensor = camera(get_blueprint_of_world)
    sensor_camera_spawn_point = carla.Transform(carla.Location(x=-11.5, z=
        4.7, y=1.2))
    sensor = world.spawn_actor(camera_sensor, sensor_camera_spawn_point,
        attach_to=dropped_vehicle)
    sensor.listen(lambda camera_data: image(camera_data))
    actor_list.append(sensor)
    number_of_vehicle()
    car_control()
    time.sleep(1000)
finally:
    print('destroying actors')
    for actor in actor_list:
        actor.destroy()
    print('done.')

<mask token>
try:
    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (sys.
        version_info.major, sys.version_info.minor, 'win-amd64' if os.name ==
        'nt' else 'linux-x86_64'))[0])
except IndexError:
    pass
<mask token>


def get_actor_display_name(actor):
    name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
    return name


actor_list = []
IM_WIDTH = 640
IM_HEIGHT = 480


def number_of_vehicle():
    all_vehicles = world.get_actors().filter('vehicle.*')
    threading.Timer(0.1, number_of_vehicle).start()
    transform_location = dropped_vehicle.get_transform()
    if len(all_vehicles) > 1:
        distance = lambda data: math.sqrt((data.x - transform_location.
            location.x) ** 2 + (data.y - transform_location.location.y) ** 
            2 + (data.z - transform_location.location.z) ** 2)
        get_distance_of_bot_vehicles = []
        for each_car in all_vehicles:
            if each_car.id != world.id:
                get_distance_of_bot_vehicles.append((distance(each_car.
                    get_location()), each_car))
        vehicle_data = {}
        final_vehicle_result = []
        sorted_vehicles = sorted(get_distance_of_bot_vehicles)
        for distance_of_car, vehicle in sorted_vehicles:
            if distance_of_car > 200.0:
                break
            vehicle_type = get_actor_display_name(vehicle)
            vehicle_data['vehicle_name'] = vehicle_type
            vehicle_data['distance'] = distance_of_car
            final_vehicle_result.append(vehicle_data)
            for distance_in_meter in final_vehicle_result:
                if distance_in_meter['distance'] > 6 and distance_in_meter[
                    'distance'] < 10:
                    print()
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2))
                    time.sleep(3)
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2, steer=-0.2))
                    time.sleep(2)
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2, steer=0.1))
                    time.sleep(2)
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2))
                    time.sleep(3)
                    car_control()
                if distance_in_meter['distance'] > 1 and distance_in_meter[
                    'distance'] < 5:
                    print('Close car')
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        hand_brake=True))
                    time.sleep(2)
                    car_control()


def image(image):
    matrix_representational_data = np.array(image.raw_data)
    reshape_of_image = matrix_representational_data.reshape((IM_HEIGHT,
        IM_WIDTH, 4))
    live_feed_from_camera = reshape_of_image[:, :, :3]
    cv2.imshow('', live_feed_from_camera)
    cv2.waitKey(1)
    return


def camera(get_blueprint_of_world):
    camera_sensor = get_blueprint_of_world.find('sensor.camera.rgb')
    camera_sensor.set_attribute('image_size_x', f'{IM_WIDTH}')
    camera_sensor.set_attribute('image_size_y', f'{IM_HEIGHT}')
    camera_sensor.set_attribute('fov', '70')
    return camera_sensor


def car_control():
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.35))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.LowBeam))
    time.sleep(6)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.45, steer=1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.RightBlinker | carla.VehicleLightState.LowBeam))
    time.sleep(5)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.7, steer=-1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.All))
    time.sleep(5)


try:
    client = carla.Client('127.0.0.1', 2000)
    client.set_timeout(10.0)
    world = client.get_world()
    get_blueprint_of_world = world.get_blueprint_library()
    car_model = get_blueprint_of_world.filter('police_car')[0]
    spawn_point = world.get_map().get_spawn_points()[0]
    dropped_vehicle = world.spawn_actor(car_model, spawn_point)
    simulator_camera_location_rotation = carla.Transform(spawn_point.
        location, spawn_point.rotation)
    simulator_camera_location_rotation.location += (spawn_point.
        get_forward_vector() * 30)
    simulator_camera_location_rotation.rotation.yaw += 180
    simulator_camera_view = world.get_spectator()
    simulator_camera_view.set_transform(simulator_camera_location_rotation)
    actor_list.append(dropped_vehicle)
    camera_sensor = camera(get_blueprint_of_world)
    sensor_camera_spawn_point = carla.Transform(carla.Location(x=-11.5, z=
        4.7, y=1.2))
    sensor = world.spawn_actor(camera_sensor, sensor_camera_spawn_point,
        attach_to=dropped_vehicle)
    sensor.listen(lambda camera_data: image(camera_data))
    actor_list.append(sensor)
    number_of_vehicle()
    car_control()
    time.sleep(1000)
finally:
    print('destroying actors')
    for actor in actor_list:
        actor.destroy()
    print('done.')

import glob
import os
import sys
import time
import math
import threading
import cv2
import numpy as np
try:
    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (sys.
        version_info.major, sys.version_info.minor, 'win-amd64' if os.name ==
        'nt' else 'linux-x86_64'))[0])
except IndexError:
    pass
import carla


def get_actor_display_name(actor):
    name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
    return name


actor_list = []
IM_WIDTH = 640
IM_HEIGHT = 480


def number_of_vehicle():
    all_vehicles = world.get_actors().filter('vehicle.*')
    threading.Timer(0.1, number_of_vehicle).start()
    transform_location = dropped_vehicle.get_transform()
    if len(all_vehicles) > 1:
        distance = lambda data: math.sqrt((data.x - transform_location.
            location.x) ** 2 + (data.y - transform_location.location.y) ** 
            2 + (data.z - transform_location.location.z) ** 2)
        get_distance_of_bot_vehicles = []
        for each_car in all_vehicles:
            if each_car.id != world.id:
                get_distance_of_bot_vehicles.append((distance(each_car.
                    get_location()), each_car))
        vehicle_data = {}
        final_vehicle_result = []
        sorted_vehicles = sorted(get_distance_of_bot_vehicles)
        for distance_of_car, vehicle in sorted_vehicles:
            if distance_of_car > 200.0:
                break
            vehicle_type = get_actor_display_name(vehicle)
            vehicle_data['vehicle_name'] = vehicle_type
            vehicle_data['distance'] = distance_of_car
            final_vehicle_result.append(vehicle_data)
            for distance_in_meter in final_vehicle_result:
                if distance_in_meter['distance'] > 6 and distance_in_meter[
                    'distance'] < 10:
                    print()
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2))
                    time.sleep(3)
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2, steer=-0.2))
                    time.sleep(2)
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2, steer=0.1))
                    time.sleep(2)
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        throttle=0.2))
                    time.sleep(3)
                    car_control()
                if distance_in_meter['distance'] > 1 and distance_in_meter[
                    'distance'] < 5:
                    print('Close car')
                    dropped_vehicle.apply_control(carla.VehicleControl(
                        hand_brake=True))
                    time.sleep(2)
                    car_control()


def image(image):
    matrix_representational_data = np.array(image.raw_data)
    reshape_of_image = matrix_representational_data.reshape((IM_HEIGHT,
        IM_WIDTH, 4))
    live_feed_from_camera = reshape_of_image[:, :, :3]
    cv2.imshow('', live_feed_from_camera)
    cv2.waitKey(1)
    return


def camera(get_blueprint_of_world):
    camera_sensor = get_blueprint_of_world.find('sensor.camera.rgb')
    camera_sensor.set_attribute('image_size_x', f'{IM_WIDTH}')
    camera_sensor.set_attribute('image_size_y', f'{IM_HEIGHT}')
    camera_sensor.set_attribute('fov', '70')
    return camera_sensor


def car_control():
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.35))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.LowBeam))
    time.sleep(6)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.45, steer=1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.RightBlinker | carla.VehicleLightState.LowBeam))
    time.sleep(5)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.7, steer=-1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.
        VehicleLightState.All))
    time.sleep(5)


try:
    client = carla.Client('127.0.0.1', 2000)
    client.set_timeout(10.0)
    world = client.get_world()
    get_blueprint_of_world = world.get_blueprint_library()
    car_model = get_blueprint_of_world.filter('police_car')[0]
    spawn_point = world.get_map().get_spawn_points()[0]
    dropped_vehicle = world.spawn_actor(car_model, spawn_point)
    simulator_camera_location_rotation = carla.Transform(spawn_point.
        location, spawn_point.rotation)
    simulator_camera_location_rotation.location += (spawn_point.
        get_forward_vector() * 30)
    simulator_camera_location_rotation.rotation.yaw += 180
    simulator_camera_view = world.get_spectator()
    simulator_camera_view.set_transform(simulator_camera_location_rotation)
    actor_list.append(dropped_vehicle)
    camera_sensor = camera(get_blueprint_of_world)
    sensor_camera_spawn_point = carla.Transform(carla.Location(x=-11.5, z=
        4.7, y=1.2))
    sensor = world.spawn_actor(camera_sensor, sensor_camera_spawn_point,
        attach_to=dropped_vehicle)
    sensor.listen(lambda camera_data: image(camera_data))
    actor_list.append(sensor)
    number_of_vehicle()
    car_control()
    time.sleep(1000)
finally:
    print('destroying actors')
    for actor in actor_list:
        actor.destroy()
    print('done.')

import glob
import os
import sys
import time
import math
import threading
import cv2
import numpy as np

try:
    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
        sys.version_info.major,
        sys.version_info.minor,
        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
    pass

import carla


def get_actor_display_name(actor):
    name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
    return name


actor_list = []
IM_WIDTH = 640
IM_HEIGHT = 480


def number_of_vehicle():
    all_vehicles = world.get_actors().filter('vehicle.*')
    threading.Timer(0.1, number_of_vehicle).start()
    transform_location = dropped_vehicle.get_transform()

    if len(all_vehicles) > 1:
        distance = lambda data: math.sqrt(
            (data.x - transform_location.location.x) ** 2 + (data.y - transform_location.location.y) ** 2 + (
                    data.z - transform_location.location.z) ** 2)

        get_distance_of_bot_vehicles = []
        for each_car in all_vehicles:
            if each_car.id != world.id:
                get_distance_of_bot_vehicles.append((distance(each_car.get_location()), each_car))

        vehicle_data = {}
        final_vehicle_result = []

        sorted_vehicles = sorted(get_distance_of_bot_vehicles)

        for distance_of_car, vehicle in sorted_vehicles:
            if distance_of_car > 200.0:
                break
            vehicle_type = get_actor_display_name(vehicle)
            vehicle_data['vehicle_name'] = vehicle_type
            vehicle_data['distance'] = distance_of_car
            final_vehicle_result.append(vehicle_data)

            for distance_in_meter in final_vehicle_result:
                if distance_in_meter['distance'] > 6 and distance_in_meter['distance'] < 10:
                    print()
                    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.2))
                    time.sleep(3)
                    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.2, steer=-0.2))
                    time.sleep(2)
                    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.2, steer=0.1))
                    time.sleep(2)
                    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.2))
                    time.sleep(3)
                    car_control()
                if distance_in_meter['distance'] > 1 and distance_in_meter['distance'] < 5:
                    print("Close car")
                    dropped_vehicle.apply_control(carla.VehicleControl(hand_brake=True))
                    time.sleep(2)
                    car_control()


def image(image):
    matrix_representational_data = np.array(image.raw_data)
    reshape_of_image = matrix_representational_data.reshape((IM_HEIGHT, IM_WIDTH, 4))
    live_feed_from_camera = reshape_of_image[:, :, :3]
    cv2.imshow("", live_feed_from_camera)
    cv2.waitKey(1)
    return


# camera sensor, width, height and fov
def camera(get_blueprint_of_world):
    camera_sensor = get_blueprint_of_world.find('sensor.camera.rgb')
    camera_sensor.set_attribute('image_size_x', f'{IM_WIDTH}')
    camera_sensor.set_attribute('image_size_y', f'{IM_HEIGHT}')
    camera_sensor.set_attribute('fov', '70')
    return camera_sensor


def car_control():
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.35))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.VehicleLightState.LowBeam ))
    time.sleep(6)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.45, steer=1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.VehicleLightState.RightBlinker | carla.VehicleLightState.LowBeam))
    time.sleep(5)
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.7, steer=-1))
    dropped_vehicle.set_light_state(carla.VehicleLightState(carla.VehicleLightState.All))
    time.sleep(5)



try:
    client = carla.Client('127.0.0.1', 2000)
    client.set_timeout(10.0)
    world = client.get_world()

    get_blueprint_of_world = world.get_blueprint_library()
    car_model = get_blueprint_of_world.filter('police_car')[0]
    spawn_point = (world.get_map().get_spawn_points()[0])
    dropped_vehicle = world.spawn_actor(car_model, spawn_point)

    simulator_camera_location_rotation = carla.Transform(spawn_point.location, spawn_point.rotation)
    simulator_camera_location_rotation.location += spawn_point.get_forward_vector() * 30
    simulator_camera_location_rotation.rotation.yaw += 180
    simulator_camera_view = world.get_spectator()
    simulator_camera_view.set_transform(simulator_camera_location_rotation)
    actor_list.append(dropped_vehicle)

    camera_sensor = camera(get_blueprint_of_world)
    sensor_camera_spawn_point = carla.Transform(carla.Location(x=-11.5, z=4.7, y=1.2))
    sensor = world.spawn_actor(camera_sensor, sensor_camera_spawn_point, attach_to=dropped_vehicle)
    sensor.listen(lambda camera_data: image(camera_data))
    actor_list.append(sensor)

    number_of_vehicle()
    car_control()
    time.sleep(1000)
finally:
    print('destroying actors')
    for actor in actor_list:
        actor.destroy()
    print('done.')