code: def __init__(self, display_dimensions, world, camera):
      self._last_camera_frame = 0
      self._surface_for_frame = []
      self._world = world
      self._dim = display_dimensions
      self._calibration = np.identity(3)
      self._calibration[0, 2] = self._dim[0] / 2.0
      self._calibration[1, 2] = self._dim[1] / 2.0
      self._calibration[0, 0] = self._calibration[1, 1] = self._dim[
          0
      ] / (
          2.0 * np.tan(90.0 * np.pi / 360.0)
      )  # fov default: 90.0
      self._camera = camera
  
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 1 to create a new RssBoundingBoxVisualizer object from inherited base classes: object with example: obj = RssBoundingBoxVisualizer(display_dimensions, world, camera)