import numpy as np
import matplotlib.pyplot as plt

from pointcloud_to_depthmap import pointcloud_to_depth_map

pointcloud = np.load("lidar.npy")
depth_map = pointcloud_to_depth_map(pointcloud)

depth_map = depth_map * 256
depth_map = np.flip(depth_map, axis=1) # so floor is down
depth_map = np.swapaxes(depth_map, 0, 1)

plt.imshow(depth_map, cmap='gray_r')
plt.show()