How to use the carla.settings.CarlaSettings function in carla

poses_tasks = self._poses()
        vehicles_tasks = [0, 15, 70]
        pedestrians_tasks = [0, 50, 150]

        task_names = ['empty', 'normal', 'cluttered']

        experiments_vector = []

        for weather in self.weathers:

            for iteration in range(len(poses_tasks)):
                poses = poses_tasks[iteration]
                vehicles = vehicles_tasks[iteration]
                pedestrians = pedestrians_tasks[iteration]

                conditions = CarlaSettings()
                conditions.set(
                    SendNonPlayerAgentsInfo=True,
                    NumberOfVehicles=vehicles,
                    NumberOfPedestrians=pedestrians,
                    WeatherId=weather

                )
                conditions.set(DisableTwoWheeledVehicles=True)
                # Add all the cameras that were set for this experiments

                conditions.add_sensor(camera)

                experiment = Experiment()
                experiment.set(
                    Conditions=conditions,
                    Poses=poses,

def default_settings():
    settings = CarlaSettings()
    settings.set(
        SynchronousMode=True,
        SendNonPlayerAgentsInfo=True,
        NumberOfVehicles=0,
        NumberOfPedestrians=0,
        WeatherId=1,  # random.choice([1, 3, 7, 8, 14]),
        PlayerVehicle='/Game/Blueprints/Vehicles/Mustang/Mustang.Mustang_C',
        QualityLevel='Epic')
    settings.randomize_seeds()

    camera_RGB = Camera('CameraRGB')
    camera_RGB.set_image_size(256, 256)
    camera_RGB.set_position(1, 0, 2.50)
    settings.add_sensor(camera_RGB)

    camera_seg = Camera('CameraSegmentation', PostProcessing='SemanticSegmentation')

def default_settings():
    settings = CarlaSettings()
    settings.set(
        SynchronousMode=True,
        SendNonPlayerAgentsInfo=True,
        NumberOfVehicles=0,
        NumberOfPedestrians=0,
        WeatherId=1,  # random.choice([1, 3, 7, 8, 14]),
        PlayerVehicle='/Game/Blueprints/Vehicles/Mustang/Mustang.Mustang_C',
        QualityLevel='Epic')
    settings.randomize_seeds()

    camera_RGB = Camera('CameraRGB')
    camera_RGB.set_image_size(256, 256)
    camera_RGB.set_position(1, 0, 2.50)
    settings.add_sensor(camera_RGB)

    camera_seg = Camera('CameraSegmentation', PostProcessing='SemanticSegmentation')

def setup_carla_client(self, client, params):
        self.client = client
        self.param_sensors = params.get('sensors', {})
        self.carla_settings = CarlaSettings()
        self.carla_settings.set(
            SendNonPlayerAgentsInfo=params.get('SendNonPlayerAgentsInfo', True),
            NumberOfVehicles=params.get('NumberOfVehicles', 20),
            NumberOfPedestrians=params.get('NumberOfPedestrians', 40),
            WeatherId=params.get('WeatherId', random.choice([1, 3, 7, 8, 14])),
            SynchronousMode=params.get('SynchronousMode', True),
            QualityLevel=params.get('QualityLevel', 'Low')
            )
        self.carla_settings.randomize_seeds()

def reset_env(self):
        self.num_steps = 0
        self.total_reward = 0
        self.prev_measurement = None
        self.prev_image = None
        self.episode_id = datetime.today().strftime("%Y-%m-%d_%H-%M-%S_%f")
        self.measurements_file = None

        # Create a CarlaSettings object. This object is a wrapper around
        # the CarlaSettings.ini file. Here we set the configuration we
        # want for the new episode.
        settings = CarlaSettings()
        # If config["scenarios"] is a single scenario, then use it if it's an array of scenarios, randomly choose one and init
        if isinstance(self.config["scenarios"],dict):
            self.scenario = self.config["scenarios"]
        else: #isinstance array of dict
            self.scenario = random.choice(self.config["scenarios"])
        assert self.scenario["city"] == self.city, (self.scenario, self.city)
        self.weather = random.choice(self.scenario["weather_distribution"])
        settings.set(
            SynchronousMode=True,
            SendNonPlayerAgentsInfo=True,
            NumberOfVehicles=self.scenario["num_vehicles"],
            NumberOfPedestrians=self.scenario["num_pedestrians"],
            WeatherId=self.weather)
        settings.randomize_seeds()

        if self.config["use_depth_camera"]:

def make_carla_settings(args):
    """Make a CarlaSettings object with the settings we need."""
    settings = CarlaSettings()
    settings.set(
        SynchronousMode=False,
        SendNonPlayerAgentsInfo=True,
        NumberOfVehicles=15,
        NumberOfPedestrians=30,
        WeatherId=random.choice([1, 3, 7, 8, 14]),
        QualityLevel=args.quality_level)
    settings.randomize_seeds()
    camera0 = sensor.Camera('CameraRGB')
    camera0.set_image_size(WINDOW_WIDTH, WINDOW_HEIGHT)
    camera0.set_position(2.0, 0.0, 1.4)
    camera0.set_rotation(0.0, 0.0, 0.0)
    settings.add_sensor(camera0)
    camera1 = sensor.Camera('CameraDepth', PostProcessing='Depth')
    camera1.set_image_size(MINI_WINDOW_WIDTH, MINI_WINDOW_HEIGHT)
    camera1.set_position(2.0, 0.0, 1.4)

# host:port. To create a connection we can use the `make_carla_client`
    # context manager, it creates a CARLA client object and starts the
    # connection. It will throw an exception if something goes wrong. The
    # context manager makes sure the connection is always cleaned up on exit.
    with make_carla_client(host, port) as client:
        print('CarlaClient connected')

        for episode in range(0, number_of_episodes):
            # Start a new episode.

            if settings_filepath is None:

                # Create a CarlaSettings object. This object is a wrapper around
                # the CarlaSettings.ini file. Here we set the configuration we
                # want for the new episode.
                settings = CarlaSettings()
                settings.set(
                    SynchronousMode=True,
                    NumberOfVehicles=20,
                    NumberOfPedestrians=40,
                    WeatherId=random.choice([1, 3, 7, 8, 14]))
                settings.randomize_seeds()

                # Now we want to add a couple of cameras to the player vehicle.
                # We will collect the images produced by these cameras every
                # frame.

                # The default camera captures RGB images of the scene.
                camera0 = Camera('CameraRGB')
                # Set image resolution in pixels.
                camera0.set_image_size(800, 600)
                # Set its position relative to the car in centimeters.

def run_carla_client(host, port):
    global frame
    with make_carla_client(host, port) as client:
        print('CarlaClient connected')
        settings = CarlaSettings()
        settings.set(
            SynchronousMode=True,
            SendNonPlayerAgentsInfo=True,
            NumberOfVehicles=0,
            NumberOfPedestrians=0,
            WeatherId=1)  # random.choice([1, 3, 7, 8, 14]))
        settings.randomize_seeds()

        camera0 = Camera('CameraRGB')
        camera0.set_image_size(800, 600)
        camera0.set_position(30, 0, 130)
        settings.add_sensor(camera0)

        camera1 = Camera('CameraDepth', PostProcessing='Depth')
        camera1.set_image_size(800, 600)
        camera1.set_position(30, 0, 130)

camera.set_rotation(-15.0, 0, 0)

        poses_tasks = self._poses()
        vehicles_tasks = [0]
        pedestrians_tasks = [250]

        experiments_vector = []

        for weather in self.weathers:

            for iteration in range(len(poses_tasks)):
                poses = poses_tasks[iteration]
                vehicles = vehicles_tasks[iteration]
                pedestrians = pedestrians_tasks[iteration]

                conditions = CarlaSettings()
                conditions.set(
                    SendNonPlayerAgentsInfo=True,
                    NumberOfVehicles=vehicles,
                    NumberOfPedestrians=pedestrians,
                    WeatherId=weather
                )
                conditions.set(DisableTwoWheeledVehicles=True)
                # Add all the cameras that were set for this experiments

                conditions.add_sensor(camera)

                experiment = Experiment()
                experiment.set(
                    Conditions=conditions,
                    Poses=poses,
                    Task=iteration,