try.py

import carla
import time
import cv2
import numpy as np

# Connect to CARLA
client = carla.Client('localhost', 2000)
client.set_timeout(10.0)
world = client.get_world()
blueprint_library = world.get_blueprint_library()

# Spawn the car
car_bp = blueprint_library.find("vehicle.mercedes.coupe_2020")
spawn_point = world.get_map().get_spawn_points()[0]
car = world.spawn_actor(car_bp, spawn_point)

# Enable autopilot
car.set_autopilot(True)

# Camera setup
cam_bp = blueprint_library.find("sensor.camera.rgb")
cam_bp.set_attribute("image_size_x", "1920")
cam_bp.set_attribute("image_size_y", "1080")
cam_bp.set_attribute("fov", "110")
cam_bp.set_attribute("sensor_tick", "0.5")

cam_transform = carla.Transform(carla.Location(x=-0.2, z=1.8))
camera = world.spawn_actor(cam_bp, cam_transform, attach_to=car)

# List to hold image frames
frames = []

# Callback to process images
def process_image(image):
    array = np.frombuffer(image.raw_data, dtype=np.uint8)
    array = array.reshape((image.height, image.width, 4))[:, :, :3]  # Drop alpha
    array = cv2.cvtColor(array, cv2.COLOR_BGR2RGB)  # Convert BGR to RGB
    frames.append(array)

# Attach listener
camera.listen(lambda image: process_image(image))

# Let it record for 10 seconds (adjust as needed)
print("Recording started...")
time.sleep(200)
print("Recording finished.")

# Stop camera
camera.stop()

# Save as video
output_filename = 'output_video.mp4'
fps = 2  # sensor_tick = 0.5s => 2 FPS
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
video_writer = cv2.VideoWriter(output_filename, fourcc, fps, (1920, 1080))

for frame in frames:
    video_writer.write(cv2.cvtColor(frame, cv2.COLOR_RGB2BGR))  # Convert back for OpenCV

video_writer.release()
print(f"Video saved as {output_filename}")

# Cleanup
camera.destroy()
car.destroy()