code: def tick(self, frame, rss_response, allowed_heading_ranges):
      if not self._camera:
          return
      surface = pygame.Surface(self._dim)
      surface.set_colorkey(pygame.Color("black"))
      surface.set_alpha(180)
      try:
          lines = RssUnstructuredSceneVisualizer.get_trajectory_sets(
              rss_response.rss_state_snapshot,
              self._camera.get_transform(),
              self._calibration,
          )
  
          polygons = []
          for heading_range in allowed_heading_ranges:
              polygons.append(
                  (
                      RssUnstructuredSceneVisualizer.transform_points(
                          RssUnstructuredSceneVisualizer._get_points_from_pairs(
                              RssUnstructuredSceneVisualizer.draw_heading_range(
                                  heading_range,
                                  rss_response.ego_dynamics_on_route,
                              )
                          ),
                          self._camera.get_transform(),
                          self._calibration,
                      ),
                      (0, 0, 255),
                  )
              )
  
          RssUnstructuredSceneVisualizer.draw_lines(surface, lines)
          RssUnstructuredSceneVisualizer.draw_polygons(
              surface, polygons
          )
  
      except RuntimeError as e:
          print("ERROR {}".format(e))
      self._current_rss_surface = (frame, surface)
      self.update_surface(None, frame)
  
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 8 for calling the RssUnstructuredSceneVisualizer obj's underlying member method code with example usage: obj.tick(frame, rss_response, allowed_heading_ranges) without return types