text: 
  from matplotlib import pyplot as plt
  import numpy as np
  infile = open('points_inliers_r.pcd','rt')
  data = infile.readlines()
  data = data[11:]
  data = [k.split(" ") for k in data]
  for i in range(0,len(data)):
      data[i] = [float(k) for k in data[i]]
      
  realpoints = np.zeros((len(data),3))
      
  
  for i in range(0,len(data)):
      realpoints[i,0] = data[i][0]
      realpoints[i,1] = data[i][1]
      realpoints[i,2] = data[i][2]
  
  plt.plot(realpoints[:,0],realpoints[:,1])
  plt.savefig('map.png')