code: def restart(self, mode):
      # setup up top down camera
      self.destroy()
      self._mode = mode
  
      spawn_sensor = False
      if mode == RssUnstructuredSceneVisualizerMode.window:
          self._dim = (
              self._display_dimensions[0] / 3,
              self._display_dimensions[1] / 2,
          )
          spawn_sensor = True
      elif mode == RssUnstructuredSceneVisualizerMode.fullscreen:
          self._dim = (
              self._display_dimensions[0],
              self._display_dimensions[1],
          )
          spawn_sensor = True
      else:
          self._surface = None
  
      if spawn_sensor:
          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
  
          bp_library = self._world.get_blueprint_library()
          bp = bp_library.find("sensor.camera.rgb")
          bp.set_attribute("image_size_x", str(self._dim[0]))
          bp.set_attribute("image_size_y", str(self._dim[1]))
  
          self._camera = self._world.spawn_actor(
              bp,
              carla.Transform(
                  carla.Location(x=7.5, z=10), carla.Rotation(pitch=-90)
              ),
              attach_to=self._parent_actor,
          )
          # We need to pass the lambda a weak reference to self to avoid
          # circular reference.
          weak_self = weakref.ref(self)
          self._camera.listen(
              lambda image: self._parse_image(weak_self, image)
          )
  
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 3 for calling the RssUnstructuredSceneVisualizer obj's underlying member method code with example usage: obj.restart(mode) without return types