def METHOD_NAME(costmap, paths):
    coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution)
    data = np.asarray(costmap.data)
    data.resize(costmap.metadata.size_y, costmap.metadata.size_x)
    data = np.where(data <= 253, 0, data)
    plt.figure(3)
    ax = sns.heatmap(data, cmap='Greys', cbar=False)
    for i in range(0, len(coords), 2):
        ax.plot(coords[i], coords[i+1], linewidth=0.7)
    plt.axis('off')
    ax.set_aspect('equal', 'box')
    plt.show()