code: def visualize_rss_results(self, state_snapshot):
      for state in state_snapshot:
          other_actor = state.get_actor(self._world)
          if not other_actor:
              # print("Actor not found. Skip visualizing state {}".format(state))
              continue
          ego_point = self._player.get_location()
          ego_point.z += 0.05
          yaw = self._player.get_transform().rotation.yaw
          cosine = math.cos(math.radians(yaw))
          sine = math.sin(math.radians(yaw))
          line_offset = carla.Location(-sine * 0.1, cosine * 0.1, 0.0)
  
          point = other_actor.get_location()
          point.z += 0.05
          indicator_color = carla.Color(0, 255, 0)
          dangerous = ad.rss.state.isDangerous(state.rss_state)
          if dangerous:
              indicator_color = carla.Color(255, 0, 0)
          elif (
              state.rss_state.situationType
              == ad.rss.situation.SituationType.NotRelevant
          ):
              indicator_color = carla.Color(150, 150, 150)
  
          if self._visualization_mode == RssDebugVisualizationMode.All:
              # the connection lines are only visualized if All is requested
              lon_color = indicator_color
              lat_l_color = indicator_color
              lat_r_color = indicator_color
              if not state.rss_state.longitudinalState.isSafe:
                  lon_color.r = 255
                  lon_color.g = 0 if dangerous else 255
              if not state.rss_state.lateralStateLeft.isSafe:
                  lat_l_color.r = 255
                  lat_l_color.g = 0 if dangerous else 255
              if not state.rss_state.lateralStateRight.isSafe:
                  lat_r_color.r = 255
                  lat_r_color.g = 0 if dangerous else 255
              self._world.debug.draw_line(
                  ego_point, point, 0.1, lon_color, 0.02, False
              )
              self._world.debug.draw_line(
                  ego_point - line_offset,
                  point - line_offset,
                  0.1,
                  lat_l_color,
                  0.02,
                  False,
              )
              self._world.debug.draw_line(
                  ego_point + line_offset,
                  point + line_offset,
                  0.1,
                  lat_r_color,
                  0.02,
                  False,
              )
          point.z += 3.0
          self._world.debug.draw_point(
              point, 0.2, indicator_color, 0.02, False
          )
  
imports: import glob
  import os
  import sys
  from enum import Enum
  import math
  import numpy
  import pygame
  import weakref
  import carla
  from carla import ad
label_desc: Use image node_id 6 for calling the RssDebugVisualizer obj's underlying member method code with example usage: obj.visualize_rss_results(state_snapshot) without return types