code: def visualize_route(self, dangerous, route):
      if not route:
          return
      right_lane_edges = dict()
      left_lane_edges = dict()
  
      for road_segment in route.roadSegments:
          right_most_lane = road_segment.drivableLaneSegments[0]
          if (
              right_most_lane.laneInterval.laneId
              not in right_lane_edges
          ):
              edge = ad.map.route.getRightProjectedENUEdge(
                  right_most_lane.laneInterval
              )
              right_lane_edges[
                  right_most_lane.laneInterval.laneId
              ] = edge
              intersection_lane = ad.map.intersection.Intersection.isLanePartOfAnIntersection(
                  right_most_lane.laneInterval.laneId
              )
  
              color = carla.Color(r=(128 if dangerous else 255))
              if intersection_lane:
                  color.b = 128 if dangerous else 255
              color = carla.Color(r=255, g=0, b=255)
              self.visualize_enu_edge(
                  edge, color, self._player.get_location().z
              )
  
          left_most_lane = road_segment.drivableLaneSegments[-1]
          if left_most_lane.laneInterval.laneId not in left_lane_edges:
              edge = ad.map.route.getLeftProjectedENUEdge(
                  left_most_lane.laneInterval
              )
              left_lane_edges[left_most_lane.laneInterval.laneId] = edge
              intersection_lane = ad.map.intersection.Intersection.isLanePartOfAnIntersection(
                  left_most_lane.laneInterval.laneId
              )
              color = carla.Color(g=(128 if dangerous else 255))
              if intersection_lane:
                  color.b = 128 if dangerous else 255
  
              self.visualize_enu_edge(
                  edge, color, self._player.get_location().z
              )
  
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 4 for calling the RssDebugVisualizer obj's underlying member method code with example usage: obj.visualize_route(dangerous, route) without return types